KR20230082692A - Foot presence signal processing using velocity - Google Patents

Abstract

A foot presence sensor system for an active article of footwear includes a sensor housing configured to be disposed on or within an insole of the article, and a controller circuit disposed within the sensor housing and configured to trigger one or more automated functions of the article of footwear based on a foot presence indication. can include In one example, the sensor system includes a capacitive sensor, the sensor configured to sense a change in foot proximity to a sensor in footwear. Information about the sensed proximity can be used to determine foot speed characteristics, which in turn can be used to update automated footwear functions such as automatic shoelace tightening, or step count, foot impact force. , speed of movement or foot, activity or other information about the footwear.

Description

Foot presence signal processing using speed {FOOT PRESENCE SIGNAL PROCESSING USING VELOCITY}

priority claim

This application is a U.S. National Phase Application under 35 U.S.C 371 of International Application PCT/US2018/022466, filed March 14, 2018, which is a U.S. Provisional Patent Application Serial No. 62/556,103, filed September 8, 2017. This application is a continuation-in-part (CIP) of U.S. Patent Application Serial No. 15/610,179, which is a continuation of U.S. Patent Application No. 15/458,625, filed March 14, 2017, the present application is the CIP of PCT/US2017/022342, filed on March 14, 2017, and this application is the CIP of US Application Serial No. 15/460,060, filed on March 15, 2017, which is filed on March 15, 2017 PCT/US2017/022576, which is a CIP of U.S. Application Serial No. 15/459,889, filed March 15, 2017, which is a CIP of PCT/US2017/022533, filed March 15, 2017; This application is a CIP of U.S. Application Serial No. 15/459,897 filed on March 15, 2017, and this application is a CIP of PCT/US2017/022548 filed on March 15, 2017, and this application is a CIP of March 15, 2017 Taiwan Patent Application No. 106108511 filed, this application is CIP of US Application No. 15/459,402, filed March 15, 2017, and this application is CIP of PCT/US2017/022489, filed March 15, 2017 , each of which is incorporated herein by reference in its entirety.

Various shoe-based sensors have been proposed to monitor various conditions. For example, Brown's US Patent No. 5,929,332 entitled "Sensor shoe for monitoring the condition of a foot" provides many examples of shoe-based sensors. Brown notes that the foot force sensor can include an insole made of a relatively thin layer of planar, flexible, elastic dielectric material. The foot force sensor may include electrically conductive interconnection means that may have an electrical resistance that changes based on an applied compressive force.

Brown also describes shoes worn by diabetics, or those suffering from various types of foot disease, where excessive pressure applied to a part of the foot tends to cause ulcers. The shoe body may include a force sensing resistor (FSR), and a switching circuit coupled to the resistor may activate an alarm unit to alert the wearer that a threshold pressure level has been reached or exceeded.

Devices for automatically fastening articles of footwear have been previously proposed. U.S. Patent No. 6,691,433 entitled "Automatic tightening shoe" by Liu is connected to a first fastener mounted on the upper of the shoe, and a closure member, A second fastener capable of removably connecting with the first fastener is provided to hold the closing member in a tightened state. Liu teaches a drive unit mounted on the heel portion of a sole. The drive unit includes a housing, a spool rotatably mounted within the housing, a pair of pull strings and a motor unit. Each string has a first end connected to the spool and a second end corresponding to a string hole in the second fastener. A motor unit is connected to the spool. Liu teaches that the motor unit is operable to wind the traction string on the spool to rotationally drive the spool within the housing to pull the second fastener toward the first fastener. Liu also teaches a guide tube unit to which a tow string can extend.

In the drawings, which are not necessarily drawn to scale, like reference numbers may describe like elements in different drawings. Like reference numbers with different letter suffixes may indicate different instances of like elements. The drawings generally illustrate the various embodiments described herein by way of example only and not as limitations.
1 is a generally exploded view of the components of an active article of footwear, in accordance with an illustrative embodiment.
2A-2C generally show a sensor system and a motorized lacing engine, according to some exemplary embodiments.
3 is a block diagram of the components of a powered shoelace tightening system as a whole, in accordance with an illustrative embodiment.
4 is a diagram showing pressure distribution data for a nominal or average foot (left) and for a high arch foot (right) within an article of footwear when a user of the article of footwear is standing.
5A and 5B are diagrams generally illustrating a capacitance-based foot presence sensor in an insole of an article of footwear, according to an example embodiment.
6 is a diagram showing a capacitive sensor system for foot presence detection as a whole, in accordance with an exemplary embodiment.
7 is a schematic diagram of a first capacitance-based foot presence sensor as a whole, in accordance with an illustrative embodiment.
8 is a schematic diagram of a second capacitance-based foot presence sensor as a whole, in accordance with an illustrative embodiment.
9A, 9B and 9C are diagrams showing examples of capacitance based foot presence sensor electrodes, in accordance with some demonstrative embodiments.
10 is a flow chart showing an example of using foot presence information from a footwear sensor.
11 is a flow chart showing a second example of using foot presence information from a footwear sensor.
FIG. 12 is a diagram showing, as a whole, a chart of first time-varying information from a capacitive foot presence sensor.
FIG. 13 is a diagram showing, as a whole, a chart of second time-varying information from a capacitive foot presence sensor.
FIG. 14 is a diagram showing, as a whole, a chart of third time-varying information from a capacitive foot presence sensor.
FIG. 15 is a diagram showing, as a whole, a chart of fourth time-varying information from a capacitive foot presence sensor.
FIG. 16 is a diagram showing a chart of time-varying information and signal morphology limits from a capacitive foot presence sensor as a whole, in accordance with an illustrative embodiment.
FIG. 17 is a diagram showing an example of a drawing of a capacitance-based foot presence sensor within a midsole of an article of footwear generally located below a dielectric stack.
FIG. 18 is an example diagram, including a chart showing, as a whole, the effect of a dielectric filler on a capacitance-indicating signal from a capacitive presence sensor.
FIG. 19 is an example chart showing a portion of a capacitance-indicative third signal from a capacitance-based foot presence sensor in footwear as a whole.
20 is a diagram generally showing an example of foot presence signal information for a plurality of sit-to-stand cycles.
21A to 21D are diagrams showing examples of different planar electrode configurations as a whole.
Fig. 22 is a diagram showing an example of a chart showing the relationship between sensor sensitivity and sensor type as a whole.
Fig. 23 is a diagram showing an example of a chart showing the relationship between sensor sensitivity and orthotic inserts as a whole.
24 is a diagram showing an example of a chart showing the relationship between sensor response and simulated sweat as a whole.
25 is a diagram showing an example of a chart showing the relationship between sensor response and simulated sweat as a whole as an average signal.
26 is a diagram showing an example of a state diagram for a sweat compensation method as a whole.
27 is a diagram showing an example of a chart showing foot presence sensor data as a whole.
28A and 28B are views showing an example of a footbed assembly with a tonneau cover as a whole.
Figures 29a-29d show an example of a footbed assembly with a first hook and loop cover for a shoelace tightening engine as a whole.
30A-30D are generally views of an example footbed assembly with a second hook and loop cover for a shoelace tightening engine.

The concept of self-tightening shoelaces was first made widely popular by the fictional power-lacing Nike® sneakers worn by Marty McFly in the 1989 film Back to the Future II. got it Nike® has since released at least one version of the powered lace-up sneaker in Back to the Future II that looks similar in appearance to the movie prop version, but the internal mechanical system employed and the surround footwear platform must be used for mass production or everyday use of these sneakers. not suitable for In addition, previous designs for powered shoelace tightening systems have suffered from high manufacturing cost, complexity, assembly challenges, lack of serviceability, and fragile or fragile mechanisms, to highlight only a few of the many problems. is suffering considerably. The inventors have developed a modular footwear platform to accommodate, among other things, powered and non-powered shoelace tightening engines that address some or all of the above problems. Components described below include, but are not limited to, serviceable components, interchangeable automated shoelace tightening engines, robust mechanical designs, robust control algorithms, reliable operation, streamlined assembly processes, and retail It offers a number of benefits, including retail-level customization. Various other advantages of the components described below will be apparent to those skilled in the art.

In one example, a modular automated lace-tightening footwear platform includes a midsole plate secured to a midsole of an article of footwear to house a lace-tightening engine. The design of the midsole plate allows a lace tightening engine to be added to the footwear platform at the later point of purchase. The midsole plate, and other aspects of the modular automated footwear platform, allow interchangeable use of different types of lace tightening engines. For example, the electric shoelace tightening engine described below may be replaced with a human-powered shoelace tightening engine. Alternatively, a fully automatic powered shoelace tightening engine with foot presence sensing or other features could be housed within a standard midsole plate.

The automated footwear platform described herein may include an outsole actuator interface to provide tightening control to an end user as well as visual feedback using, for example, LED lighting projected through a translucent protective outsole material. The actuator may provide tactile and visual feedback to the user to indicate the status of a lace tightening engine or other automated footwear platform component.

In one example, the footwear platform includes a foot presence sensor configured to detect when a foot is present in a shoe. If a foot is detected, then one or more footwear functions or processes may be initiated, eg automatically and without further user input or command. For example, upon detecting that the foot is properly seated within the footwear relative to the insole, the control circuitry may automatically initiate shoelace tightening, data collection, footwear diagnostics, or other processes.

Early activation or initiation of an automated shoelace tightening or footwear tightening mechanism can reduce a user's experience with the footwear. For example, if the lace-tight engine is activated before the foot is fully seated against the insole, the user may have difficulty getting the remainder of his or her foot into the footwear, or the user may manually adjust the lace-tight tension. You may need to adjust. The inventors thus conclude that the problem to be solved involves determining whether the foot is properly or fully seated within an article of footwear, e.g., with the toe, midsole, and heel properly aligned with their counterparts in the insole. point was recognized. The inventors have also recognized that challenges include accurately determining foot location or foot orientation using as few sensors as possible, eg, to reduce sensor cost and assembly cost, and to reduce device complexity.

A solution to these problems includes providing sensors in the arch and/or heel region of the footwear. In one example, the sensor is a capacitive sensor configured to sense changes in a nearby electric field. A change in electric field, or change in capacitance, may be realized as the foot enters or exits the footwear, including while parts of the foot are farther from the sensor than other parts of the foot. In one example, the capacitive sensor is integrated with or housed within a shoelace tightening engine enclosure. In one example, at least some of the capacitive sensors are provided external to the lace tightening engine enclosure and include one or more conductive interconnects connected to power or processing circuitry within the enclosure.

Capacitive sensors suitable for use in foot presence detection can have a variety of configurations. The capacitive sensor may include a plate capacitor, wherein one plate is configured to move relative to the other plate in response to, for example, a pressure applied to one or more of the plates or a change in pressure. In one example, the capacitive sensor includes a plurality of traces arranged substantially in a plane parallel or coincident with, for example, an upper surface of an insole. These traces may be laterally separated by air gaps (or other materials such as Styrofoam) and may be selectively or periodically driven by an AC drive signal provided by an excitation circuit. In one example, the electrodes may have an interleaved comb configuration. Such capacitive sensors can provide a changing capacitance signal based on movement of the electrodes themselves relative to each other and based on interference of electric fields in the vicinity of the electrodes due to the presence or absence or movement of a foot or other object.

In one example, capacitance-based sensors may be more reliable than mechanical sensors, for example, because capacitance-based sensors do not need to include moving parts. The electrodes of capacitance-based sensors can be coated or covered by a durable electric field-permeable material, so that the electrodes are resistant to environmental changes, moisture, spillage, dirt or other contaminants, and humans who do not come into direct contact with the electrodes of the sensor. Or it may be protected from direct exposure to other materials.

In one example, the capacitive sensor provides an analog output signal representing the magnitude of capacitance or change in capacitance detected by the sensor. This output signal may have a first value (e.g., corresponding to a low capacitance) when a foot is present near the sensor, and the output signal may have a different second value (e.g., correspond to a high capacitance) when no foot is present. have

In one example, the output signal when a foot is present may provide additional information. For example, there may be detectable fluctuations in the capacitance signal that correlate to step events. Additionally, there may be detectable long-term drift in the capacitance signal that may indicate wear-and-tear and/or remaining life of footwear components, such as insoles, orthotics, or other components.

In one example, the capacitive sensor includes or is connected to a capacitance-to-digital converter circuit configured to provide a digital signal representative of the magnitude of the capacitance sensed by the sensor. In one example, the capacitive sensor includes processor circuitry configured to provide an interrupt signal or logic signal indicating whether a sensed capacitance value meets a specified threshold capacitance condition. In one example, the capacitive sensor measures a capacitance characteristic relative to a baseline or reference capacitance value, and the baseline or reference is updated or updated to accommodate, for example, environmental or other changes that may affect the sensed capacitance value. can be adjusted

In one example, a capacitive sensor is provided under the foot near the arch or heel region of the insole of the shoe. This capacitive sensor can be substantially planar or planar. The capacitive sensor may be rigid or flexible and may be configured to conform to the contours of the foot. In some cases, an air gap may exist between the foot and a portion of the capacitive sensor when the shoe is worn, for example, which may have a relatively low dielectric constant or low relative permittivity. For example, a gap filler, which may have a relatively high dielectric constant or relative permittivity greater than air, may be provided over the capacitive sensor to bridge any airspace between the capacitive sensor and the foot surface. The gap filler may be compressible or incompressible. In one example, the gap filler is selected to provide a suitable compromise between dielectric value and suitability for use in footwear to provide the sensor with adequate sensitivity and underfoot user comfort.

The following describes various components of an automated footwear platform, including a powered shoelace tightening engine, foot presence sensor, midsole plate, and various other components of the platform. Although much of this disclosure focuses on foot presence sensing as a trigger for a powered shoelace tightening engine, many aspects of the described designs may be used for a powered shoelace tightening engine, or other footwear functions such as data collection or physiological monitoring. Applicable to other circuits or features that can interface with foot presence sensors to automate. The term “automation,” as used in “automated footwear platform,” is not intended to cover only systems that operate without specific user input. Rather, the term “automated footwear platform” may include a variety of electrically powered and manpowered, automatically activated and human activated mechanisms for tightening lace tightening or retention systems in footwear, or for controlling other aspects of active footwear.

1 is an exploded view of the components of an active article of footwear as a whole, in accordance with an illustrative embodiment. 1 is a powered shoelace tightening system 100 having a lace tightening engine 110, a lid 120, an actuator 130, a midsole plate 140, a midsole 155 and an outsole 165. ). Lace tightening engine 110 may include a user replaceable component within system 100 and may include or be coupled to one or more foot presence sensors. In one example, lace tightening engine 110 includes, or is coupled to, a capacitive foot presence sensor. A capacitive foot presence sensor, not shown in the example of FIG. 1 , may include a plurality of electrodes disposed on opposite sides of the lace tightening engine 110 . In one example, the electrodes of the capacitive foot presence sensor can be housed within the lace tightening engine 110, integrated with a housing of the lace tightening engine 110, or in the vicinity of the lace tightening engine 110. It may be located elsewhere and connected to power or processing circuitry internal to the lace tightening engine 110 using one or more electrical conductors.

Assembling the example powered shoelace tightening system 100 of FIG. 1 begins by securing the midsole plate 140 within the midsole 155 . Actuator 130 may then be inserted into an opening in the lateral side of midsole plate 140 , opposite an interface button that may be embedded within outsole 165 , for example. Next, lace tightening engine 110 may be inserted into midsole plate 140 . In one example, lace tightening engine 110 may be coupled with one or more sensors disposed elsewhere on the footwear. Other assembling methods may be performed similarly to construct the powered shoelace tightening system 100 .

In one example, the lace tightening system 100 is inserted under a continuous loop of lace tightening cables, which are aligned with spools within the lace tightening engine 110 . To complete assembly, the lid 120 may be inserted into securing means in the midsole plate 140, secured into a closed position, and latched into a recess in the midsole plate 140. The lid 120 may capture the lace tightening engine 110 and may assist in maintaining the alignment of the lace tightening cables during operation.

The midsole plate 140 includes shoelace tightening engine cavity 141, medial and lateral shoelace guides 142, anterior flange 143, posterior flange 144, upper (superior) and inferior (lower) faces, and an actuator cutout (145). The lace tightening engine cavity 141 is configured to receive the lace tightening engine 110 . In this example, the lace tightening engine cavity 141 retains the lace tightening engine 110 in the lateral and forward/rearward directions, but includes features for locking the lace tightening engine 110 within the cavity 141. does not include Optionally, the lace tightening engine cavity 141 has detents, tabs, or other features along one or more sidewalls to more securely retain the lace tightening engine 110 within the lace tightening engine cavity 141. Includes mechanical features.

The lace guide 142 may assist in guiding the lace tightening cable into place with the lace tightening engine 110 . Lace guide 142 may include chamfered edges and downward sloped ramps to assist in guiding the lace tightening cable to a desired location relative to lace tightening engine 110 . In this example, lace guide 142 includes an opening in the side of midsole plate 140 that is many times wider than the diameter of a typical lace tightening cable, although other dimensions may be used.

In the example of FIG. 1 , midsole plate 140 includes a sculpted or contoured front flange 143 that extends further on the inside of midsole plate 140 . The exemplary front flange 143 is designed to provide additional support under the arch of the footwear platform. However, in other instances, the front flange 143 may be less pronounced on the inside. In this example, the back flange 144 includes a contour with extending portions on both the inner and outer sides. The illustrated rear flange 144 may provide improved lateral stability for the lace tightening engine 110 .

In one example, one or more electrodes may be embedded in or disposed on midsole plate 140 and form part of a foot presence sensor, such as part of a capacitive foot presence sensor. In one example, lace tightening engine 110 includes sensor circuitry electrically coupled to one or more electrodes on midsole plate 140 . The sensor circuitry may be configured to use the sensed electric field or capacitance information from the electrodes to determine whether or not a foot is in an area adjacent to the midsole plate 140 . In one example, the electrode extends from the foremost edge of the front flange 143 to the rearmost edge of the rear flange 144, and in another example the electrode extends over only a portion of one or both of the flanges.

In one example, footwear or powered lace tightening system 100 includes or interfaces with one or more sensors capable of monitoring or determining the presence of a foot within the footwear, a foot member from the footwear, or a position characteristic of the foot within the footwear. Based on information from one or more of these foot presence sensors, footwear that includes powered lace tightening system 100 may be configured to perform various functions. For example, a foot presence sensor can be configured to provide binary information about whether a foot is present in footwear or not. In one example, a processor circuit connected to the foot presence sensor receives and interprets the digital or analog signal information and provides binary information as to whether or not the foot is present in the footwear. If the binary signal from the foot presence sensor indicates that a foot is present, the lace tightening engine 110 of the powered lace tightening system 100 is activated, automatically increasing or decreasing the tension on, for example, a lace tightening cable or other footwear restraint means. to tighten or loosen the footwear against the foot. In one example, lace tightening engine 110, or other portion of the article of footwear, includes processor circuitry capable of receiving or interpreting a signal from a foot presence sensor.

In one example, the foot presence sensor can be configured to provide information about the location of the foot when the foot enters the footwear. The powered shoelace tightening system 100 may generally be activated to tighten a shoelace tightening cable only when, for example, a foot is properly positioned or seated relative to all or part of an insole of an article of footwear within the footwear. A foot presence sensor that senses information about foot movement or location can provide information about whether the foot is fully or partially seated, such as against an insole or against some other feature of an article of footwear. The automated shoelace tightening procedure may be suspended or delayed until information from the sensor indicates that the foot is in the proper position.

In one example, the foot presence sensor can be configured to provide information about the relative location of the foot within the footwear. For example, the foot presence sensor may determine the relative position of one or more foot components, such as an arch, heel, toe, or other component of the foot, relative to a corresponding portion of footwear configured to receive such foot component, thereby ensuring that the footwear is It can be configured to sense whether it has a good “fit” for a given foot. In one example, the foot presence sensor is a specified or pre-recorded position of the foot or foot component, such as due to loosening of a shoelace tightening cable over time, or due to the natural expansion and contraction of the foot itself. It may be configured to detect whether or not it changes over time with respect to the reference position.

In one example, a foot presence sensor may include an electrical, magnetic, thermal, capacitive, pressure, optical or other sensor device that may be configured to sense or receive information about the presence of a body. For example, the electrical sensor may include an impedance sensor configured to measure an impedance characteristic between at least two electrodes. If a body, such as a foot, is positioned proximate to or adjacent to an electrode, the electrical sensor may provide the sensor with a signal having a first value, and if the body is positioned away from the electrode, the electrical sensor may provide a sensor with a different, second value. signal can be provided. For example, a first impedance value can be associated with an unoccupied footwear condition and a lower second impedance value can be associated with an occupied footwear condition.

The electrical sensor may include an AC signal generator circuit and an antenna configured to emit or receive high frequency signal information, including, for example, radio frequency information. Based on the proximity of the body to the antenna, one or more electrical signal characteristics, such as impedance, frequency, or signal amplitude, may be received and analyzed to determine whether a body is present. In one example, a received signal strength indicator (RSSI) provides information about the power level in the received wireless signal. For example, the presence or absence of a body can be identified using a change in RSSI for some baseline or reference value. In one example, WiFi frequencies may be used, for example in one or more of the bands 2.4 GHz, 3.6 GHz, 4.9 GHz, 5 GHz and 5.9 GHz. In one example, frequencies in the kilohertz range, such as approximately 400 kHz for example, may be used. In one example, power signal changes can be detected in the milliwatt or microwatt range.

The foot presence sensor may include a magnetic sensor. The first magnetic sensor may include a magnet and a magnetometer. In one example, the magnetometer may be located in or near the lace tightening engine 110 . The magnet may be positioned away from the lace tightening engine 110, such as in a secondary sole configured to be worn over an outsole 165, or in an insole. In one example, the magnets are embedded within the foam or other compressible material of the secondary insole. As the user depresses the secondary insole, eg while standing or walking, a corresponding change in the position of the magnet relative to the magnetic field can be sensed and reported via a sensor signal.

The second magnetic sensor may include a magnetic field sensor configured to sense changes or disruptions in the magnetic field (eg, via the Hall effect). When the body is in close proximity to the second magnetic sensor, the sensor can generate a signal indicating a change to the surrounding magnetic field. For example, the second magnetic sensor may include a Hall effect sensor that varies a voltage output signal in response to a variation of the detected magnetic field. A voltage change in an output signal can be due to a voltage difference across an electrical signal conductor, such as across a current in the conductor, and the creation of a magnetic field perpendicular to the current.

In one example, the second magnetic sensor is configured to receive an electromagnetic field signal from the body. For example, U.S. Patent No. 8,752,200 titled "Devices, systems and methods for security using magnetic field based identification" by Varshavsky et al. It teaches the use of the body's unique electromagnetic signature for In one example, a magnetic sensor within an article of footwear automatically determines, via the detected electromagnetic signature, that the current user is the owner of the shoe, that the article is, eg, according to the owner's one or more specified shoelace tightening preferences (eg, tightness profile). It can be used to authenticate or verify that shoelaces are to be tightened.

In one example, the foot presence sensor includes a thermal sensor configured to sense a change in temperature in or near a portion of footwear. As the wearer's foot enters the article of footwear, the internal temperature of the article changes when the wearer's own body temperature is different from the ambient temperature of the article of footwear. Thus, the thermal sensor may indicate whether or not a foot is likely present based on the temperature change.

In one example, the foot presence sensor includes a capacitive sensor configured to sense a change in capacitance. A capacitive sensor can include a single plate or electrode, or a capacitive sensor can include a multi-plate or multi-electrode configuration. Various examples of capacitive type foot presence sensors are further described herein.

In one example, the foot presence sensor includes an optical sensor. The optical sensor may be configured to determine whether a line-of-sight is blocked between opposite sides of the footwear cavity, for example. In one example, the optical sensor includes an optical sensor that can be covered by the foot when the foot is inserted into the footwear. If the sensor indicates a change in sensed light or brightness conditions, foot presence or location may be provided.

Any of the different types of foot presence sensors described herein can be used independently, or information from two or more different sensors or sensor types can provide more information about foot presence, absence, orientation, good fit with footwear. information, or other information about its relationship to the foot and/or footwear.

2A-2C generally show a sensor system and a motorized shoelace tightening engine, according to some exemplary embodiments. 2A shows a housing structure 150, case screw 108, shoelace channel 112 (also referred to as shoelace guide relief 112), shoelace channel transition 114, spool recess 115, button An exemplary lace tightening engine (including aperture 122, button 121, button membrane seal 124, programming header 128, spool 131 and lace groove 132 in spool 131) 110) introduces various external features. Other designs may similarly be used. Other switch types may be used, such as, for example, sealed dome switches, or the membrane seal 124 may be eliminated. In one example, lace tightening engine 110 may communicate with circuitry external to lace tightening engine 110, such as an external foot presence sensor (or component thereof), an external actuator such as a switch or button, or another device or component. It may include one or more interconnections or electrical contacts for interfacing circuitry within shoelace tightening engine 110 .

Shoelace tightening engine 110 may be held together by one or more screws, such as case screws 108. Case screws 108 may be located near the primary drive mechanism to improve the structural integrity of lace tightening engine 110 . The case screws 108 also serve to assist in the assembly process, such as holding the housing structure 150 together for ultrasonic welding of external seams.

In the example of FIG. 2A , the lace tightening engine 110 includes a lace channel 112 for receiving a lace or lace cable once the engine is assembled within an automated footwear platform. The lace channel 112 may include channel walls with chamfered edges to provide a smooth guide surface for the lace cable to move against or within it during operation. A portion of the smooth guide surface of lace channel 112 may include a channel transition 114 , which may be an enlarged portion of lace channel 112 leading into spool recess 115 . Spool recess 115 transitions at channel transitions 114 in a generally circular section that closely conforms to the profile of spool 131 . The spool recess 115 may assist in retaining the spooled shoelace cable, maintaining the position of the spool 131 . Other aspects of the design may provide other means for retaining the spool 131 . In the example of FIG. 2A , spool 131 is a yo-yo with lace groove 132 extending through a flat upper surface and a spool shaft (not shown in FIG. 2A ) extending down from the opposite side. It is molded similarly to half of

The outer surface of the lace tightening engine 110 includes a button opening 122 that receives a button 121 that can be configured to activate or adjust one or more features of the automated footwear platform. The button 121 may provide an external interface for activating various switches included in the shoelace tightening engine 110 . In some examples, the housing structure 150 includes a button membrane seal 124 to provide protection from dirt and water. In this example, the button membrane seal 124 is a transparent plastic up to several mils (thousandths of an inch) thick that can be bonded from the top surface of the housing structure 150, such as over the corners and down along the outer surface. (or similar material). In another example, button membrane seal 124 is an approximately 2-mil thick, vinyl adhesive backed membrane that covers button 121 and button opening 122 . Other types of buttons and sealants may similarly be used.

2B is a diagram showing a housing structure 150 that includes an upper section 102 and a lower section 104 . In this example, upper section 102 includes case screw 108, shoelace channel 112, shoelace channel transition 114, spool recess 115, button opening 122 and button seal recess ( 126). In one example, button seal recess 126 is a portion of upper section 102 that is relieved to provide an insert for button membrane seal 124 .

In the example of FIG. 2B , lower section 104 includes features such as wireless charger access 105 , joint 106 , and grease containment wall 109 . Various features in the case screw base for receiving the case screw 108, the grease containment wall 109 for holding part of the drive mechanism are shown, but are not specifically identified. The grease containment wall 109 is designed to keep grease, or a similar compound surrounding the drive mechanism, away from the various electrical components of the lace tightening engine 110 .

The housing structure 150 may include one or more electrodes 170 embedded in or attached to a surface of the structure, within one or both of the upper and lower sections 102 and 104 . In the example of FIG. 2B , electrode 170 is shown connected to lower section 104 . In one example, electrode 170 comprises part of a capacitance-based foot presence sensor circuit (eg, see foot presence sensor 310 described herein). Additionally or alternatively, electrode 170 may be connected to upper section 102 . Electrode 170 connected to upper or lower section 102 or 104 may be used for wireless power transfer and/or as part of a capacitance based foot presence sensor circuit. In one example, electrode 170 includes one or more portions disposed on an outer surface of housing structure 150, and in another example, electrode 170 includes one or more portions disposed on an inner surface of housing structure 150. do.

2C is a diagram showing various internal components of shoelace tightening engine 110, according to an exemplary embodiment. In this example, the shoelace tightening engine 110 includes a spool magnet 136, an O-ring seal 138, a worm drive unit 140, a bushing 141, a worm drive key, a gear box 148, a gear motor ( 145), motor encoder 146, motor circuit board 147, worm gear 151, circuit board 160, motor header 161, battery connection 162 and wired charging header 163. . The spool magnet 136 assists in tracking the movement of the spool 131 through detection by a magnetometer (not shown in FIG. 2C). The O-ring seal 138 functions to seal out dirt and moisture that may migrate around the spool shaft and into the lace tightening engine 110. Circuit board 160 may include one or more interfaces or interconnections for a foot presence sensor, such as capacitive foot presence sensor 310 described below. In one example, circuit board 160 includes one or more traces or conductive planes that provide portions of foot presence sensor 310 .

In this example, the main driving components of the shoelace tightening engine 110 include a worm driving unit 140, a worm gear 151, a gear motor 145 and a gear box 148. The worm gear 151 is designed to resist reverse driving of the worm drive unit 140 and the gear motor 145, which is a worm gear and worm drive having a relatively large main input force from the shoelace tightening cable through the spool 131 This means that it can be disassembled on the teeth. This configuration avoids the need for gearbox 148 to include gears of sufficient strength to withstand both dynamic loads from active use of the footwear platform or tightening loads from tightening the lace tightening system. Worm drive unit 140 includes additional features that help protect various weak points of the drive system, such as worm drive keys. In this example, the worm drive key is a radial slot in the motor end of the worm drive 140 that interfaces with a pin via a drive shaft coming out of the gearbox 148. This configuration allows the worm drive unit 140 to move freely in the axial direction (away from the gearbox 148) and transmits these axial loads onto the bushing 141 and the housing structure 150, thereby reducing the worm drive unit 140 ) from imparting excessive axial force on the gear box 148 or gear motor 145.

FIG. 3 is a block diagram of the components of a motorized shoelace tightening system 300 as a whole, in accordance with an illustrative embodiment. System 300 includes interface button 301, capacitive presence sensor 310, and processor circuit 320, battery 321, charging coil 322, encoder 325, motion sensor 324, and It includes some, but not necessarily all, components of a powered shoelace tightening system, such as housing structure 150 enclosing a printed circuit board assembly (PCA) with drive mechanism 340. The drive mechanism 340 may include a motor 341 , a transmission 342 and a shoelace spool 343 , among others. Motion sensor 324 may be a uniaxial or multiaxial accelerometer, magnetometer, gyrometer, or motion of housing structure 150, or motion of one or more components within or connected to housing structure 150, among other things. may include other sensors or devices configured to sense.

In the example of FIG. 3 , processor circuit 320 connects one or more of interface button 301 , foot presence sensor 310 , battery 321 , charging coil 322 , and drive mechanism 340 to a data or power signal. are in communication. Transmission 342 connects motor 341 to spool 343 to form drive mechanism 340 . In the example of FIG. 3 , button 301 , foot presence sensor 310 and environment sensor 350 are shown outside or partially outside housing structure 150 .

In an alternative embodiment, one or more of button 301 , foot presence sensor 310 , and environmental sensor 350 may be encapsulated within housing structure 150 . In one example, the foot presence sensor 310 is disposed inside the housing structure 150 to protect the sensor from sweat and dirt or debris. Minimizing or eliminating connections through the walls of the housing structure 150 can help increase the durability and reliability of the assembly.

In one example, processor circuit 320 controls one or more aspects of drive mechanism 340 . For example, the processor circuit 320 may receive information from the button 301 and/or from the foot presence sensor 310 and/or from the motion sensor 324, and in response to, for example, tighten the footwear against the foot or It may be configured to control drive mechanism 340 to loosen. In one example, the processor circuit 320 is additionally or alternatively configured to issue commands to obtain or record sensor information from the foot presence sensor 310 or other sensor, among other functions. In one example, processor circuit 320 may use foot presence sensor 310 to detect foot presence, foot presence sensor 310 to detect foot orientation or location, or motion sensor 324 to detect foot presence. Controls the operation of the drive mechanism 340 for one or more of detecting a specified gesture using

In one example, system 300 includes environmental sensor 350 . Information from environmental sensors 350 may be used to update or adjust baselines or reference values for foot presence sensors 310 . As explained further below, the capacitance value measured by a capacitive foot presence sensor may fluctuate over time, for example in response to ambient conditions in the vicinity of the sensor. Using information from environmental sensor 350, processor circuit 320 and/or foot presence sensor 310 may be configured to update or adjust the measured or sensed capacitance value.

4 is a diagram showing pressure distribution data for a nominal or average foot (left) and for a groin (right) within an article of footwear 400 when a user of the article of footwear is standing. In this example, the relatively large pressure areas under the foot include the heel area 401, the cheek area 402 (eg, between the arch and the toes), and the big toe area 403 (eg, the "big toe" area). it can be seen that However, as noted above, it may be advantageous to include the various active components (eg, including the foot presence sensor 310) in a centralized area, such as at or near the arch area. In one example, in the arch region, the housing structure 150 may be less obtrusive or less intrusive to the user as a whole when the article of footwear including the housing structure 150 is worn.

In the example of FIG. 4 , the shoelace tightening engine cavity 141 may be provided in the arch area. One or more electrodes corresponding to the foot presence sensor 310 may be positioned at or near the first location 405 . The capacitance value measured using the electrode located at the first location 405 can be different depending on the proximity of the foot to the first location 405 . For example, because the surface of the foot itself is at a different distance from the first location 405, different capacitance values will be obtained for the average foot and for the groin. In one example, the location of the foot presence sensor 310 and/or lace tightening engine 110 may be positioned relative to footwear, such as to accommodate different foot characteristics of different users and to improve the signal quality obtained from the foot presence sensor 310. It can be adjusted (eg by the user or by a technician at the point of sale). In one example, the sensitivity of the foot presence sensor 310 can be adjusted, for example, by increasing the drive signal level or by changing the dielectric material placed between the foot presence sensor 310 and the foot.

5A and 5B generally show a capacitance-based foot presence sensor in an insole of an article of footwear, according to an example embodiment. A capacitance-based foot presence sensor may be provided below the surface of the body 550 or an object, such as a foot, when an article incorporating the sensor is worn.

In FIG. 5A , a capacitance-based foot presence sensor can include a first electrode assembly 501A coupled to a capacitive sensing controller circuit 502 . In one example, controller circuit 502 is included in or includes the function performed by processor circuit 320 . In the example of FIG. 5A , the first electrode assembly 501A and/or the controller circuit 502 may be included within or mounted to the inside of the housing structure 150, or the PCA inside the housing structure 150. can be connected to In one example, the first electrode assembly 501A may be disposed on or adjacent to a foot-facing surface of the housing structure 150 . In one example, the first electrode assembly 501A includes a plurality of traces distributed across the inner top region of the housing structure 150 .

The capacitance based foot presence sensor in FIG. 5B can include a second electrode assembly 501B coupled to the capacitive sensing controller circuit 502 . The second electrode assembly 501B may be mounted on or near the outside of the housing structure 150, or may be electrically connected to the PCA inside the housing structure 150 using, for example, a flexible connector 511. there is. In one example, the second electrode assembly 501B may be disposed on or adjacent to a foot-facing surface of the housing structure 150 . In one example, the second electrode assembly 501B includes a flexible circuit secured to an inner or outer surface of the housing structure 150 and connected to the processor circuit 320 through one or more conductors.

In one example, the controller circuit 502 includes an Atmel ATSAML21E18B-MU, ST Microelectronics STM32L476M, or other similar device. The controller circuit 502 provides, among other things, an AC drive signal to, and in response to, an AC drive signal to at least one pair of electrodes in the first or second electrode assembly 501A or 501B, as will be described in more detail below. It may be configured to sense a change in the electric field based on a corresponding change in the proximity of the object or body 550 to the . In one example, controller circuit 502 includes or utilizes foot presence sensor 310 or processor circuit 320 .

A variety of materials may be provided between the electrode assembly 501 and the object or body 550 to be sensed. For example, electrode insulation, material of the housing structure 150, insole material, insert material 510, sock or other foot covering, body tape, kinesiology tape, or other material may be used with the body 550. Interposed between the electrode assembly 501 can, for example, change the dielectric properties of footwear and thereby affect the capacitance detection sensitivity of a sensor that includes or utilizes the electrode assembly 501. The controller circuitry 502 updates or adjusts the excitation or sensing parameters based on the number or type of intervening materials to, for example, improve the sensitivity or signal-to-noise ratio of the capacitance value sensed using the electrode assembly 501. can be configured to do so.

In the example of FIGS. 5A/5B , the first and/or second electrode assemblies 501A and/or 501B can be excited by a signal generator in the controller circuit 502 so that an electric field is generated in the upper leg of the electrode assembly. It can come from the opposite side. In one example, the electric field beneath the electrode assembly may be blocked using a driven shield located at least partially below the sensing electrode. The driven shield and electrode assembly may be electrically insulated from each other. For example, if the first electrode assembly 501A is on one surface of the PCA, the driven shield may be in the bottom layer of the PCA or in any one of the multiple inner layers on the multi-layer PCA. In one example, the driven shield may have the same or greater surface area as the first electrode assembly 501A and may be centered directly below the first electrode assembly 501A.

The driven shield may receive a drive signal and may generate an electric field in response thereto. The electric field generated by the driven shield may have substantially the same polarity, phase, and/or amplitude as the field generated by the first electrode assembly 501A. The electric field of the driven shield can push out the electric field of the first electrode assembly 501A, thereby isolating the sensor field from various parasitic effects, such as undesirable coupling of the PCA to the ground plane. The electric field generated by the follower shield can help direct and focus the sensing to a specific area, help reduce environmental stress, and help reduce parasitic capacitance effects. In one example, including a driven shield can help reduce the effect of temperature fluctuations on the sensor assembly. Temperature can affect parasitic offset characteristics, and temperature changes can change parasitic ground plane capacitance, for example. For example, using a shield inserted between the sensor electrode and ground can help mitigate the effects of parasitic ground plane capacitance in sensor measurements.

A driven shield may similarly be provided for use with the second electrode assembly 501B. For example, the second electrode assembly 501B may be provided above or adjacent to the housing structure 150 as shown in the example of FIG. 5B. In one example, a portion of the housing structure 150 may include or be partially covered with a conductive film used as a driven shield. Additionally or alternatively, the follower shield may be provided elsewhere within the article of footwear if the second electrode assembly 501B is provided at a location other than at or adjacent to the top of the housing structure 150 .

A preferred location for positioning the housing structure 150 is within the arch area of the footwear, as this is an area that is less perceptible to the wearer and causes less discomfort to the wearer. One advantage of using capacitive sensing to detect foot presence in footwear is that the capacitive sensor can function well even when it is placed within the arch area and the user has a relatively or unusually low foot. For example, a sensor drive signal amplitude or shape characteristic may be varied or selected based on a detected signal-to-noise ratio of a signal received from a capacitive sensor. In one example, the sensor drive signal is updated or adjusted each time the footwear is used, such as one or more materials disposed between the first or second electrode assembly 501A or 501B and the body 550 (e.g., socks, insoles, etc.) can be accommodated.

In one example, an electrode assembly of a capacitive sensor, such as first or second electrode assembly 501A or 501B, can be configured to sense a difference in signal between multiple electrodes, such as between X- and Y-axis oriented electrodes. there is. In one example, a suitable sampling frequency may be between about 2 and 50 Hz. In some examples, capacitance-based foot sensing technology may be relatively invariant to perspiration (moisture) on an insole or in a sock around the foot. The effect of this moisture is that it can reduce the dynamic range of detection because the presence of moisture can increase the measured capacitance. However, in some instances, the dynamic range is sufficient to accommodate the effect within the expected level of moisture within the footwear.

6 generally shows a capacitive sensor system 600 for foot presence detection, according to an exemplary embodiment. System 600 includes a body 550 (eg, representing a foot in or near an active article of footwear) and first and second electrodes 601 , 602 . The electrodes 601 and 602 may form all or part of the first or second electrode assembly 501A or 501B from the example of FIGS. 5A/5B , such as including part of the foot presence sensor 310 . . In the example of FIG. 6 , the first and second electrodes 601 , 602 are shown as being spaced perpendicularly relative to each other and to the body 550 , but the electrodes are, for example, in the examples of FIGS. 7-9C . As detailed in , they may be similarly spaced horizontally. That is, in one example, the electrodes may be disposed in a plane parallel to the lower surface of body 550 . In the example of FIG. 6 , the first electrode 601 is configured as a transmission electrode and is connected to the signal generator 610 . In one example, signal generator 610 includes a portion of processor circuit 320 from the example of FIG. 3 . That is, the processor circuit 320 may be configured to generate a drive signal and apply it to the first electrode 601 .

As a result of exciting the first electrode 601 by the drive signal from the signal generator 610, an electric field 615 may be generated primarily between the first and second electrodes 601 and 602. That is, various components of the generated electric field 615 can extend between the first and second electrodes 601 and 602, and different fringe components of the generated electric field 615 can extend in different directions. there is. For example, a fringe element may extend from the transmitter electrode or first electrode 601 away from the housing structure 150 (not shown in the example of FIG. 6 ) and terminate again at the receiver electrode or second electrode 602 . can

Information about the electric field 615 may be sensed or received by the second electrode 602 , including information about changes in the electric field 615 due to the proximity of the body 550 . The sensed signal from second electrode 602 can be processed using various circuitry and used to provide an analog or digital signal indicating the presence or absence of body 550 .

For example, the field strength of the electric field 615 received by the second electrode 602 is a sigma-delta analog-to-digital converter circuit (ADC) 620 configured to convert an analog capacitance-indicating signal to a digital signal. ) can be measured using The electrical environment in the vicinity of the electrodes changes when an object, such as a body 550, invades the electric field 615 containing its fringe components. When the body 550 enters the field, a portion of the electric field 615 is shunted to ground instead of being received and terminated at the second electrode 602 or is received at the second electrode 602 before the body ( 550) (eg instead of air). This may cause a capacitance change that may be detected by the foot presence sensor 310 and/or by the processor circuit 320 .

In one example, second electrode 602 can receive electric field information substantially continuously, and the information can be continuously or periodically sampled by ADC 620 . Information from ADC 620 may be processed or updated according to offset 621 and then a digital output signal 622 may be provided. In one example, offset 621 may be specified or programmed (e.g., internal to processor circuit 320) or used to track environmental changes over time, temperature, and other variable characteristics of the environment. It is a capacitance offset that can be based on another capacitor.

In one example, digital output signal 622 may include binary information about the determined presence or absence of body 550, such as by comparing the measured capacitance value to a specified threshold. In one example, digital output signal 622 is a variable for the measured capacitance, such as can be used (e.g., by processor circuit 320) to indicate the likelihood that body 550 is present or not present. Include quantitative information.

Periodically, or whenever foot presence sensor 310 is not active (e.g., as determined using information from motion sensor 324), a capacitance value is measured as a reference value, baseline value, or ambient value. can be stored As the foot or body approaches the foot presence sensor 310 and the first and second electrodes 601, 602, the measured capacitance may decrease or increase relative to the stored reference value, for example. In one example, one or more threshold capacitance levels may be stored, for example, in on-chip registers with processor circuit 320 . If the measured capacitance value exceeds a specified threshold, body 550 may be determined to be present (or absent) in footwear that includes foot presence sensor 310 .

Foot presence sensor 310 , and electrodes 601 , 602 comprising portions of foot presence sensor 310 , may take many different forms, as illustrated in a number of non-limiting examples below. In one example, the foot presence sensor 310 is configured to sense or use information about mutual capacitance in or between multiple electrodes or plates.

In one example, electrodes 601 and 602 are arranged in an electrode grid. A capacitive sensor using a grid may include a variable capacitor at each intersection of each row and each column of the grid. Optionally, the electrode grid includes electrodes arranged in one or multiple rows or columns. A voltage signal can be applied to a row or column, and a body or foot near the surface of the sensor can affect the local electric field, which in turn can reduce the mutual capacitance effect. In one example, body location can be determined by measuring the change in capacitance at multiple points on a grid, such as by measuring the voltage at each axis. In one example, mutual capacitance measurement techniques can simultaneously provide information from multiple locations around a grid.

In one example, the mutual capacitance measurement uses an orthogonal grid of transmit and receive electrodes. In such a grid-based sensor system, measurements can be detected for each of a number of discrete X-Y coordinate pairs. In one example, capacitance information from multiple capacitors can be used to determine the presence or orientation of a foot within a footwear. In another example, capacitance information from one or more capacitors can be acquired over time and analyzed to determine foot presence or foot orientation. In one example, rate-of-change information for the X and/or Y detection coordinates can be used to determine when or when a foot is properly or completely seated against an insole within footwear.

In one example, a self capacitance based foot presence sensor can have the same X-Y grid as a mutual capacitance sensor, but the columns and rows can operate independently. In the magnetoresistance sensor, the capacitive load of the body in each column or row can be independently detected.

7 is a diagram showing a schematic diagram of a first capacitance-based foot presence sensor as a whole, according to an exemplary embodiment. In the example of FIG. 7 , the first capacitive sensor 700 includes multiple parallel capacitive plates. These multiple plates may be arranged on or within the housing structure 150 , such as positioned on or near the underside of the foot when the article of footwear that includes the first capacitive sensor 700 is worn. In one example, capacitive foot presence sensor 310 includes or utilizes first capacitive sensor 700 .

In the example of FIG. 7 , four conductive capacitor plates are shown as 701 - 704 . The plate may be made of a conductive material such as a conductive foil. The foil can be flexible, optionally embedded within the plastic of the housing structure 150 itself, or can be independent of the housing structure 150 . It should be understood that any conductive material may be used, such as a film, ink, deposited metal, or other material. In the example of FIG. 7 , plates 701 - 704 are arranged in a common plane and spaced apart from each other to form discrete conductive elements or electrodes.

The capacitance value of a capacitor is a function of the dielectric constant of the material between the two plates forming the capacitor. Within the first capacitive sensor 700, a capacitor may be formed between two or more respective pairs of capacitor plates 701-704. Accordingly, there are six effective capacitors formed by the six unique combination pairs of capacitor plates 701-704, as designated in FIG. 7 as capacitors A, B, C, D, E and F. Optionally, two or more of the plates may be electrically connected to form a single plate. That is, in one example, first and second capacitor plates 701 and 702 electrically connected to provide a first conductor, and third and fourth capacitor plates 703 and 704 electrically connected to provide a second conductor. Capacitors can be formed using

In one example, the capacitive effect between the first and second capacitor plates 701 and 702 is represented by the imaginary capacitor identified by letter A in FIG. 7 . The capacitive effect between the first and third capacitor plates 701 and 703 is represented by the imaginary capacitor identified by letter B. The capacitive effect between the second and fourth capacitor plates 702, 704 is represented by the imaginary capacitor identified by the letter C, and so on. One skilled in the art will understand that each imaginary capacitor represents an electrostatic field extending between each pair of capacitor plates. Hereinafter, for ease of identification, the capacitors formed by each pair of capacitive plates are indicated by the letters (e.g., “A”, “B”, etc.) used in FIG. 7 to identify hypothetically constructed capacitors. .

For each pair of capacitor plates in the example of Figure 7, the effective permittivity between the plates includes an air gap (or other material) disposed between the plates. For each pair of capacitor plates, any part of the body or foot proximate to each pair of capacitor plates can be a part of, or affect, the effective permittivity for a given pair of capacitive plates. That is, a variable permittivity may be provided between each pair of capacitor plates depending on the proximity of the body to each pair of plates. For example, the closer a body or foot is to a given pair of plates, the greater the value of the effective permittivity may be. As the dielectric constant value increases, the capacitance value increases. This change in capacitance value can be received by processor circuit 320 and used to indicate whether a body is present at or near first capacitive sensor 700 .

In one example of a foot presence sensor 310 that includes first capacitive sensor 700, a plurality of capacitive sensor drive/monitor circuits can be coupled to plates 701-704. For example, a separate drive/monitor circuit may be associated with each pair of capacitor plates in the FIG. 7 example. In one example, the drive/monitor circuit can provide a drive signal (eg, a time-varying electrical excitation signal) to the pair of capacitor plates and, in response, can receive a capacitance indication. Each drive/monitor circuit may be configured to measure a variable capacitance value of an associated capacitor (eg, capacitor “A” corresponding to the first and second plates 701 and 702), and the measured capacitance value It may also be configured to provide a signal representing . The drive/monitor circuit can have any suitable structure for measuring capacitance. In one example, two or more drive/monitor circuits may be used together to represent the difference between capacitance values measured using, for example, different capacitors.

8 is a schematic diagram showing a second capacitance based foot presence sensor as a whole, according to an exemplary embodiment. The example of FIG. 8 includes a second capacitive electrode 801, 802. A sensor 800 is included. The foot presence sensor 310 may include or utilize a second capacitive sensor 800 . In the example of FIG. 8 , the first and second electrodes 801 , 802 are arranged along a substantially planar surface, for example in a comb configuration. In one example, drive circuitry such as processor circuit 320 may be configured to generate excitation or excitation signals for application to first and second electrodes 801 , 802 . The same or different circuitry may be configured to detect a response signal indicating a change in capacitance between the first and second electrodes 801 and 802 . Capacitance can be affected by the presence of a body or foot relative to the electrodes. For example, the first and second electrodes 801 , 802 may be at or near a surface of the housing structure 150 , such as proximate to the foot when the foot is present within a footwear that includes the housing structure 150 . can be arranged

In one example, the second capacitive sensor 800 includes a conductive layer etched into the X-Y grid to form a pattern of electrodes, for example. Additionally or alternatively, the electrodes of the second capacitive sensor 800 may be provided, for example, by etching multiple separate parallel layers of conductive material with vertical lines or tracks to form a grid. In these and other capacitive sensors, no direct contact between the body or foot and the conductive layer or electrode is required. For example, the conductive layer or electrode may be embedded within the housing structure 150 or may be coated with a protective or insulating layer. Instead, the body or foot to be detected may interface with or affect the properties of the electric field in the vicinity of the electrodes, and a change in the electric field may be detected.

In one example, individual capacitance values can be measured with a first electrode 801 relative to ground or reference, and a second electrode 802 relative to ground or reference. The signal for use in foot presence detection may be based on the difference between the individual capacitance values measured for the first and second electrodes 801 and 802 . That is, the foot presence or foot detection signal may be based on the difference between the discrete capacitance signals measured using the first and second electrodes 801 and 802 .

9A and 9B generally illustrate an example of a third capacitive sensor 900, according to some examples. FIG. 9C shows an example of a fourth capacitive sensor 902 as a whole. 9A shows a schematic plan view of a third capacitive sensor 900 . 9B shows a perspective view of a sensor assembly 901 that includes a third capacitive sensor 900 . 9C shows a schematic plan view of the fourth capacitive sensor 902 .

In the example of FIG. 9A , the third capacitive sensor 900 includes an electrode area having a first electrode trace 911 and a second electrode trace 912 . The first and second electrode traces 911 and 912 are separated by an insulator trace 913. In one example, the first and second electrode traces 911, 912 may be copper, carbon, or silver, among other conductive materials, and may be disposed on a substrate made from FR4, polyimide, PET, among other materials. can The substrate and traces of the third capacitive sensor 900 may include one or more flexible portions.

The first and second electrode traces 911 and 912 may be distributed substantially across the surface area of the substrate of the third capacitive sensor 900 . When the third capacitive sensor 900 is installed, the electrode trace may be positioned in contact with or on the upper surface of the housing structure 150 . In one example, one or both of the first and second electrode traces 911, 912 may be about 2 mm wide. The insulator traces 913 may be approximately the same width. In one example, the trace width may be selected based, among other things, on footwear dimensions or insole type. For example, different trace widths may be used, for example, to maximize the signal-to-noise ratio of the capacitance value measured using the third capacitive sensor 900, for example the distance between the trace and the body to be sensed, the insole material , may be selected for the first and second electrode traces 911 , 912 and/or for the insulator trace 913 depending on the gap filler, housing structure 150 material, or other materials used within the footwear.

The third capacitive sensor 900 can include a connector 915 . Connector 915 may be coupled with a mating connector, such as coupled to a PCA in housing structure 150 . The mating connector may include one or more conductors for electrically connecting the first and second electrode traces 911 and 912 to the processor circuit 320 .

In one example, third capacitive sensor 900 includes input signal conductors 920A and 920B. Input signal conductors 920A and 920B may be configured to connect with one or more input devices, such as, for example, a dome button or other switch corresponding to button 121 in the example of FIG. 2A .

9B shows a sensor assembly 901 comprising a third capacitive sensor 900, buttons 121A, 121B, and membrane seals 124A, 124B. In one example, the corresponding conductive surfaces of input signal conductors 920A and 920B are coupled with buttons 121A and 121B. Membrane seals 124A, 124B are adhered over buttons 121A, 121B, for example, to protect buttons 121A, 121B from debris and to keep them aligned with the conductor surface.

In the example of FIG. 9C , the fourth capacitive sensor 902 includes an electrode area having a first electrode trace 921 and a second electrode trace 922 . The first and second electrode traces 921 and 922 are separated by an insulator trace 923. The electrode traces can include a variety of conductive materials, and the fourth capacitive sensor 902 can include one or more flexible portions. The fourth capacitive sensor 902 may include a connector 925 and may be coupled with a mating connector, such as coupled to a PCA in the housing structure 150 .

The present inventors believe that the problem to be solved is a suitable sensitivity of a capacitive foot presence sensor or its It has been recognized that this involves obtaining a response from a sensor. The inventors have recognized that a solution may include using multiple electrodes of a specified shape, size and orientation to enhance the orientation and relative strength of the electric field created when the electrodes are excited. That is, the inventors have identified an optimal electrode configuration for use in capacitive foot presence sensing.

In one example, the plurality of electrodes of the fourth capacitive sensor 902 include first and second electrode traces 921 and 922, each of the first and second electrode traces 921 and 922 being substantially different from each other. It includes a number of discrete fingers or traces extending in parallel. For example, the first and second electrode traces 921 and 922 may include a plurality of intersecting conductive fingers, as shown in FIG. 9C .

In one example, the second electrode trace 922 has a shoreline or periphery that extends substantially around the outer periphery or surface portion of the fourth capacitive sensor 902 and substantially surrounds the first electrode trace 921 . can include In the example of FIG. 9C , the perimeter line comprising the second electrode trace 922 extends around substantially the entire circumference of the top surface of the fourth capacitive sensor 902 assembly, although the perimeter line in some other examples is more of the sensor. It can be extended around a small portion. The present inventors detect the presence of a foot when most or all of the fingers of the first and second electrode traces 921, 922 are arranged substantially parallel to each other, instead of including, for example, one or more non-parallel traces or fingers. It was recognized that an optimal electric field was created for In contrast to, for example, the fourth capacitive sensor 902, the third capacitive sensor 900 of FIG. 9A is, for example, in the upper part of the first electrode trace 911 including vertically extending fingers and horizontal Non-parallel fingers are included in the lower portion of the first electrode trace 911 including the finger portion extending to . The relative thickness of the first and second electrode traces 921 and 922 can be adjusted to further improve the sensitivity of the sensor. In one example, the second electrode trace 922 is three or more times thicker than the first electrode trace 921 .

In one example, the capacitance value measured by the foot presence sensor 310 using, for example, one or more of the first, second, third, and fourth capacitive sensors 700, 800, 900, 902 is shown in FIG. It may be provided to a processor circuit or controller, such as processor circuit 320 . In response to the measured capacitance, processor circuit 320 may operate drive mechanism 340, such as to adjust footwear tension against the foot. The adjustment operation may optionally be performed at least in part by a “wired” configuration, may be performed by processor-executed software, or may be performed by a combination of wired components and software. In one example, operating the drive mechanism 340 may (1) monitor a signal from the foot presence sensor 310 using one or more drive/monitor circuits, such as using the processor circuit 320; (2) If any, any of the received capacitance signals meet or meet a specified threshold (e.g., stored within a memory register of the processor circuit 320 and/or within a memory circuit in data communication with the processor circuit 320). (3) characterizing the location, size, orientation or other feature of the body or foot in the vicinity of the foot presence sensor 310, e.g., based on various specified thresholds exceeded; and (4) allowing, enabling, adjusting, or inhibiting operation of the drive mechanism 340 according to the feature.

10 is a flow diagram showing an example of a method 1000 that includes using foot presence information from a footwear sensor. At act 1010 , an example includes receiving foot presence information from foot presence sensor 310 . Foot presence information may include binary information about whether a foot is present in the footwear (eg, see the interrupt signal described in the example of FIGS. can include The information may include an electrical signal provided to the processor circuit 320 from the foot presence sensor 310 . In one example, the foot presence information includes quantitative information regarding the location of the foot relative to one or more sensors within the footwear.

At operation 1020, an example includes determining whether the foot is fully seated within the footwear. If the sensor signal indicates that the foot is fully seated, the example may continue at operation 1030 with activating drive mechanism 340 . If, for example, based on information from foot presence sensor 310 , it is determined in operation 1020 that the foot is fully seated, drive mechanism 340 is engaged to engage footwear via spool 131 , as described above. You can tighten the string. If the sensor signal indicates that the foot is not fully seated, the example may continue at operation 1022 by delaying or idling for some specified interval (eg, 1-2 seconds or more). After the specified delay has elapsed, the example may return to operation 1010 and the processor circuitry may resample the information from the foot presence sensor 310 to again determine whether the foot is fully seated.

After drive mechanism 340 is actuated in operation 1030 , processor circuit 320 in operation 1040 may be configured to monitor the foot location information. For example, the processor circuitry may be configured to periodically or intermittently monitor information about the absolute or relative position of the foot within the footwear from the foot presence sensor 310 . In one example, monitoring foot location information in operation 1040 and receiving foot presence information in operation 1010 may include receiving information from the same or different foot presence sensors 310 . For example, operations 1010 and 1040 may use different electrodes to monitor foot presence or location information.

At operation 1040 , an example includes monitoring information from one or more buttons associated with footwear, such as button 121 . Based on information from button 121 , drive mechanism 340 may be instructed to disconnect or loosen shoelaces, such as when the user wishes to remove the footwear.

In one example, lace tension information may be additionally or alternatively monitored or used as feedback information to operate the drive mechanism 340 or to tighten the laces. For example, shoelace tension information can be monitored by measuring the drive current supplied to motor 341 . Tension can be characterized at the time of manufacture or preset or adjusted by the user, and can be correlated to a monitored or measured drive current level.

At operation 1050, an example includes determining whether the foot location has changed within the footwear. If a change in foot location is not detected by foot presence sensor 310 and processor circuit 320 , the example may continue with a delay in operation 1052 . After the delay interval specified in operation 1052, the example may return to operation 1040 to resample information from the foot presence sensor 310 to again determine whether the foot position has changed. The delay in operation 1052 may range from a few milliseconds to several seconds, and may optionally be specified by the user.

In one example, the delay at operation 1052 may be determined automatically by processor circuitry 320, eg, in response to determining footwear usage characteristics. For example, if processor circuit 320 determines that the wearer is engaging in vigorous activity (eg, running, jumping, etc.), processor circuit 320 may reduce the delay period provided in operation 1052. there is. If the processor circuit determines that the wearer is engaging in a non-vigorous activity (eg, walking or sitting), the processor circuit may increase the delay period provided in operation 1052 . By increasing the delay period, battery life may be conserved by delaying sensor sampling events and corresponding power consumption by the processor circuit 320 and/or by the foot presence sensor 310 . In one example, if a location change is detected in action 1050, the example may return to action 1030 to actuate drive mechanism 340 to tighten or loosen footwear relative to the foot, for example. In one example, the processor circuit 320 includes or incorporates a hysteretic controller for the drive mechanism 340 to help avoid unwanted lace-up in the event of small detected changes in foot position, for example.

11 is a flow diagram illustrating an example method 1100 of using foot presence information from a footwear sensor. The example of FIG. 11 may represent the operation of a state machine, such as may be implemented using processor circuit 320 and foot presence sensor 310 in one example.

State 1110 may include a “Ship” state that represents a default or baseline state for an active article of footwear that includes one or more features that may be influenced by information from foot presence sensor 310 . can In factory state 1110, various active components of the footwear may be switched off or inactive to conserve the battery life of the footwear.

In response to the “Power Up” event 1115, the instance may transition to a “Disabled” or inactive state 1120. Drive mechanism 340 , or other feature of active footwear, may remain in standby in disabled state 1120 . Various inputs may be used as triggering events to exit disabled state 1120 . For example, user input from one of the buttons 121 can be used to indicate a transition out of the disabled state 1120 . In one example, information from motion sensor 324 can be used as a wakeup signal. Information from motion sensor 324 may include information about movement of the footwear, such as may correspond to a user placing a shoe in a ready position, or a user beginning to insert a foot into the footwear. .

The state machine may remain in the disabled state 1120 after the power-up event 1115 until an automatic shoelace enable event 1123 is encountered or received. Automatic shoelace enable event 1123 may be manually triggered by the user (eg, using user input to drive mechanism 340 or interface device), or gesture information received from motion sensor 324, for example. It can be automatically triggered (triggered) in response to After the automatic shoelace enable event 1123 , a calibration event 1125 may occur. Calibration event 1125 may include setting a reference or baseline value for the capacitance of foot presence sensor 310, eg, to account for environmental effects on the sensor. Calibration may be performed based on sensed information from the foot presence sensor 310 itself or may be based on programmed or specified reference information. Calibration may be postponed, for example, if the calibration results are outside a specified range or if environmental effects are exaggerated.

After automatic shoelace enable event 1123, the state machine may enter hold state 1130 to "wait for foot presence signal". At state 1130 , the state machine may wait for an interrupt signal from foot presence sensor 310 and/or from motion sensor 324 . If an interrupt signal is received indicating that a foot is present, or that there is a good chance that a foot is present, the event register may indicate “foot found” at event 1135 .

The state machine may transition to or initiate various functions when foot discovery event 1135 occurs. For example, the footwear may be configured to adjust or tighten the tension characteristics using drive mechanism 340 in response to foot discovery event 1135 . In one example, processor circuit 320 activates drive mechanism 340 to adjust shoelace tension by an initial amount in response to foot discovery event 1135, and processor circuit 320 further controls when a control gesture is detected or the user If no input is received or until such detection or receipt, further tightening of the footwear is delayed. That is, the state machine may transition to the "Wait to Move" state 1140 . In one example, processor circuit 320 enables drive mechanism 340 but does not activate drive mechanism after foot discovery event 1135 . At state 1140, the state machine may hold or pause additional sensed footwear motion information before initiating any initial or additional tension adjustments. After the move waiting state 1140, a stomp/walk/stand event 1145 may be detected, and in response, the processor circuit 320 may further adjust the tension characteristics for the footwear.

The stomp/walk/stand event 1145 may include various discrete sensed inputs, such as from one or more sensors within the active footwear. For example, a stomp event may include information from motion sensor 324 indicating affirmative acceleration (eg, in a specified or general direction) and an “up” or “upright” orientation. . In one example, a stomp event includes a “high knee” or kick type event in which the user lifts one knee substantially vertically and forward. The acceleration characteristic from the motion sensor 324 may be analyzed to determine, for example, whether the acceleration meets or exceeds a specified threshold. For example, a slow knee-lift event may not trigger a stomp event response, whereas a rapid or rapid knee-lift event may trigger a stomp event response.

A walk event may include information from the motion sensor 324 indicating a forward step pattern and an “up” or “upright” orientation. In one example, motion sensor 324 and/or processor circuitry 320 is configured to identify a step event, which when the step event is identified and included in an accelerometer (e.g., motion sensor 324 or separately). of] can be recognized when indicating that the footwear is upright.

A standing event may include information from a motion sensor indicating an “up” or “upright” orientation, eg, without additional information about the footwear's acceleration or change in direction from the motion sensor. In one example, a standing event can be discerned using information about changes in the capacitance signal from the capacitive foot presence sensor 310, as described further below. That is, the capacitance signal from the foot presence sensor 310 may include a signal fluctuation that may indicate whether the user is standing, for example, when the user's foot applies downward pressure on the footwear.

The specific example of a stomping/walking/standing event 1145 should not be considered limiting, such as after a foot is detected in the foot discovery event 1135, various other gesture, time-based input, or user input control may be provided to further control or influence the behavior of the footwear.

After the stomp/walk/stand event 1145 , the state machine may include a “wait for shoelace untied” state 1150 . The waiting state 1150 for untying shoelaces is to monitor user input and/or gesture information for a command to loosen, de-tension, or untie shoelaces (e.g., a motion sensor 324 )] can be included. In the wait for laces untie state 1150, a state manager such as processor circuit 320 indicates that the lace tightening engine or drive mechanism 340 should return to the wait for foot presence signal state 1130 with the laces unfastened. can That is, in the first example, an unlace event 1155 may occur (eg, in response to user input), the state machine may transition the footwear to the unlace state, and the state machine may trigger the shoe to unlace. It is possible to return to the existence signal waiting state 1130 . In a second example, an automatic shoelace disable event 1153 may occur and transition the footwear to the disabled state 1120 .

Figure 12 shows, as a whole, a chart 1200 of first time-varying information from a capacitive foot presence sensor. The example of FIG. 12 includes a capacitance versus time chart and a first time-varying capacitance signal 1201 plotted on the chart. In one example, the first time-varying capacitance signal 1201 can be obtained using the foot presence sensor 310 described herein. The first time-varying capacitance signal 1201 can correspond to a measured capacitance between multiple electrodes in the foot presence sensor 310, or representative of the body's effect on the electric field, as described above. In one example, the first time-varying capacitance signal 1201 represents an absolute or relative capacitance value, and in another example, the signal represents a difference between a signal value and a reference capacitance signal value.

In one example, the first capacitance signal 1201 can be compared to a specified first threshold capacitance value 1211 . The foot presence sensor 310 can be configured to perform the comparison, or the processor circuit 320 can be configured to receive capacitance information from the foot presence sensor 310 and perform the comparison. In the example of FIG. 12 , the first critical capacitance value 1211 is shown to be a constant value other than zero. If the first capacitance signal 1201 meets or exceeds, for example, the first threshold capacitance value 1211 at time T ₁ , the foot presence sensor 310 and/or the processor circuit 320 outputs a first interrupt signal (INT). ₁ ) can be provided. The first interrupt signal INT ₁ may remain high as long as the capacitance value indicated by the foot presence sensor 310 meets or exceeds the first critical capacitance value 1211 .

In one example, the first interrupt signal INT ₁ may be used in the example of FIG. 10 , such as in operations 1010 or 1020 . At operation 1010 , receiving foot presence information from foot presence sensor 310 may include receiving a first interrupt signal INT ₁ , eg, from processor circuit 320 . In one example, operation 1020 may include using the interrupt signal information to determine whether the foot is, or is likely to be, fully seated within the footwear. For example, processor circuit 320 monitors the duration of first interrupt signal INT ₁ to determine how long foot presence sensor 310 provides a capacitance value that exceeds first threshold capacitance value 1211 . can do. If the time period exceeds the specified reference period, processor circuit 320 may determine that the foot is fully seated, or likely to be fully seated.

In one example, the first interrupt signal INT ₁ may be used in the example of FIG. 11 , such as in state 1130 or event 1135 . At state 1130, the state machine may be configured to wait for an interrupt signal, such as INT ₁ , from processor circuit 320 or foot presence sensor 310. At event 1135, the state machine may receive a first interrupt signal (INT ₁ ), and in response, one or more of the following states may be initiated.

In one example, the first threshold capacitance value 1211 is adjustable. This threshold may change based on a measured or detected change in the capacitance baseline or criterion, such as due to environmental changes. In one example, the first threshold capacitance value 1211 can be specified by a user. The user's threshold specification may affect the sensitivity of the footwear. In one example, the first threshold capacitance value 1211 can be automatically adjusted in response to a sensed environmental or material change in or around the foot presence sensor 310 .

FIG. 13 is a diagram showing a chart 1300 of second time-varying information from a capacitive foot presence sensor as a whole. The example of FIG. 13 shows how the fluctuation of the second capacitance signal 1202 around the first threshold capacitance value 1211 can be treated or used to determine more information about the presence or orientation of the foot within the footwear.

In one example, the second capacitance signal 1202 is received from the foot presence sensor 310 and the second capacitance signal 1202 is compared to a first threshold capacitance value 1211 . Other thresholds may similarly be used depending on, among other things, the user, user preference, type of footwear, or environment or environmental characteristics. In the example of FIG. 13 , the second capacitance signal 1202 may cross the first threshold capacitance value 1211 at times T ₂ , T ₃ and T ₄ . In one example, multiple threshold crossings may be used to unambiguously identify foot presence by foot presence sensor 310 , such as by representing a path of motion for a foot as it enters footwear. For example, the time interval bounded by the first and second threshold crossings at times T ₂ and T ₃ is such that the toes or phalanges of the foot are at or near the electrodes of the foot presence sensor 310 . It can indicate the period when it is located. The interval between times T ₃ and T ₄ when the sensed capacitance is less than the first threshold capacitance value 1211 is when the metatarsal joint or metatarsal bone of the foot moves over or near the electrode of the foot presence sensor 310 . You can respond to the time when moving. The metatarsal joints and metatarsal bones may be spaced apart from the foot presence sensor 310 by a distance greater than the distance of the phalanx to the foot presence sensor 310 as the phalanx moves into the footwear, hence the time between times T ₃ and T ₄ . The measured capacitance may be lower. At time T ₄ , the heel or talus of the foot can slide into position, and the arch can rest over the electrodes of the foot presence sensor 310, raising the sensed capacitance again to a first threshold capacitance value. (1211). Thus, the foot presence sensor 310 or the processor circuit 320 causes the second interrupt signal INT ₂ to be between times T ₂ and T ₃ , and the third interrupt signal INT ₃ to be generated at time T ₄ ) can be configured to be behind.

In one example, the processor circuit 320 may be configured to explicitly identify the presence of a foot based on a series of interrupt signals. For example, processor circuit 320 may use information about received interrupt signals and about one or more intervals or periods between received interrupt signals. For example, the processor circuitry may be configured to look for a pair of interrupt signals separated by a specified period of time to explicitly indicate foot presence. In FIG. 13 , for example, the period between T ₃ and T ₄ can be used to indicate foot presence, eg with some adjustable or specified margin of error. In one example, the processor circuit 320 may receive the interrupt signal as data and may process the data along with other user input signals, such as as part of a gesture-based user input. In one example, information about the presence or absence of an interrupt signal can be used to validate or dismiss one or more other signals. For example, the accelerometer signal may be validated and processed by the processor circuit 320 when an interrupt signal is received or recently received, or the accelerometer signal may be processed by the processor circuit 320 when there is no interrupt signal corresponding to a foot presence sensor. 320) can be ignored.

The examples of FIGS. 12 and 13 show an embodiment in which the measured capacitance value from the foot presence sensor 310 is reliably constant or reproducible over time, including in the presence of changing environmental conditions. However, in many footwear use cases, constant or unpredictable changes in ambient capacitance within embedded electronics may occur, such as due to changes in temperature, humidity, or other environmental factors. Significant changes in ambient capacitance may adversely affect activation of the foot presence sensor 310 , such as by changing the baseline or reference capacitance characteristic of the sensor.

FIG. 14 shows, as a whole, a chart 1400 of third time-varying information from a capacitive foot presence sensor. The example of FIG. 14 shows how reference capacitance changes can be accounted for, for example, due to changes in various ambient conditions, changes in usage scenarios, or changes due to wear or deterioration of footwear components. An example includes the third capacitance signal 1203 plotted on the chart 1400 along with a second critical capacitance 1212 and a time-varying reference capacitance 1213 . In the example of FIG. 14 , the time-varying reference capacitance 1213 increases with time. In another example, the reference capacitance may decrease over time, or may fluctuate, such as during footwear usage events (e.g., throughout the day, while a game is being played, across a user's settings or preferences, etc.) there is. In one example, the reference capacitance may change over the life cycle of various components of the footwear itself, such as insoles, outsoles, sock liners, orthotic inserts, or other components of the footwear.

In one example, the third capacitance signal 1203 is received from the foot presence sensor 310, and the third capacitance signal 1203 is generated using, for example, processing circuitry on the foot presence sensor 310 or using processor circuitry 320. and is compared with the second critical capacitance 1212. In an example without considering or using the time-varying reference capacitance 1213 , threshold crossings for the third capacitance signal 1203 can be observed at times T ₅ , T ₆ and T ₈ . However, the second threshold capacitance 1212 may be adjusted in real time with sensed information from, for example, the foot presence sensor 310 . Adjustment of the second threshold capacitance 1212 can be based on the time-varying reference capacitance 1213 .

In one example, second threshold capacitance 1212 is continuously adjusted by an amount corresponding to a change in time-varying reference capacitance 1213. In an alternative example, the second threshold capacitance 1212 is adjusted in step increments, eg, in response to a specified threshold change in the time-varying reference capacitance 1213. The stepwise adjustment technique is illustrated in FIG. 14 by stepwise increasing the second threshold capacitance 1212 over the shown interval. For example, second threshold capacitance 1212 is increased at times T ₇ and T ₁₀ in response to a specified threshold increase ΔC in the capacitance of time-varying reference capacitance 1213 . In the example of FIG. 14 , the third capacitance signal 1203 intersects the reference compensated second threshold capacitance 1212 at times T ₅ , T ₆ and T ₉ . Thus, a different interrupt signal or interrupt signal timing may be provided depending on whether or not the threshold is reference compensated. For example, the fourth interrupt signal INT ₄ may be generated and provided between times T ₅ and T ₆ . If the second critical capacitance 1212 is used without reference compensation, a fifth interrupt signal INT ₅ may be generated and provided at time T ₈ . However, if the reference compensated second threshold capacitance 1212 is used, the fifth capacitance signal 1203 crosses the compensated second threshold capacitance 1212 at time T ₉ as illustrated. An interrupt signal (INT ₅ ) is generated and provided.

A logic circuit can be used to monitor and update the threshold capacitance value. This logic circuit may be incorporated with the foot presence sensor 310 or the processor circuit 320 . An updated threshold level can be provided automatically and stored in on-chip RAM. In one example, no input or confirmation from the user is required to perform the threshold update.

FIG. 15 shows, as a whole, a chart 1500 of fourth time-varying information from a capacitive foot presence sensor. The example of FIG. 15 shows how reference capacitance changes can be accounted for, for example, due to changes in various ambient conditions, changes in usage scenarios, or changes due to wear or deterioration of footwear components. An example includes fourth capacitance signal 1204 plotted on chart 1500 along with adaptive threshold capacitance 1214 . A fourth capacitance signal 1204 can be provided by the foot presence sensor 310 . Adaptive threshold capacitance 1214 can be used to help compensate for environmental or use case related changes in capacitance measured by foot presence sensor 310 .

In one example, the foot presence sensor 310 or processor circuit 320 is configured to monitor the fourth capacitance signal 1204 for changes in signal magnitude, such as changes greater than a specified threshold magnitude amount. That is, if the fourth capacitance signal 1204 includes a magnitude change that meets or exceeds a specified threshold capacitance magnitude ΔC, the foot presence sensor 310 or processor circuit 320 may provide an interrupt signal. .

In one example, the sensed or measured capacitance value of the fourth capacitance signal 1204 is compared to a reference capacitance or baseline, and the reference or baseline can be updated at specified or time-varying intervals. In the example of FIG. 15 , reference updates occur periodically at times T ₁₁ , T ₁₂ , T ₁₃ , etc. as shown. Updates in response to other intervals or other triggering events may additionally or alternatively be used.

In the example of FIG. 15 , the initial reference capacitance can be zero, or can be represented by the x-axis. A sixth interrupt signal INT ₆ may be provided at time T ₁₁ after the fourth capacitance signal 1204 increases by more than a specified threshold capacitance magnitude ΔC for a pre-specified criterion. In the example of FIG. 15, the interrupt may be provided at periodic intervals, but in another example the interrupt may be provided concurrently with identifying a critical change in capacitance.

Following the threshold change identified, eg at time T ₁₁ , the reference or baseline capacitance may be updated to a first capacitance reference C ₁ . After time T ₁₁ , foot presence sensor 310 or processor circuit 320 monitors fourth capacitance signal 1204 for a subsequent change in signal by at least ΔC, ie, C ₁ + ΔC or C ₁ - Can be configured to find the capacitance value of ΔC.

In an example involving identifying a capacitance increase at a first time, the interrupt signal state may change in response to identifying a capacitance decrease at a subsequent time. However, if additional capacitance increases are identified at a subsequent time, the reference capacitance may be updated, and subsequent comparisons may be made based on the updated reference capacitance. This scenario is illustrated in FIG. 15 . For example, at time T ₁₂ , an increase in the capacitance of the fourth capacitance signal 1204 is detected and the reference can be updated with the second capacitance reference C ₂ . Since the first and subsequent second capacitance changes indicate an increase, the state of the sixth interrupt signal INT ₆ may remain unchanged. At time T ₁₃ , the capacitance reduction of the fourth capacitance signal 1204 is detected and the reference may be updated to the third capacitance reference C ₃ . Since the capacitance change at time T ₁₃ is a greater decrease than the specified threshold capacitance size ΔC, the state of the sixth interrupt signal INT ₆ may be changed (eg, interrupt asserted state ) to an unasserted state].

In one example, the first detected change at time T ₁₁ and corresponding interrupt signal INT ₆ indicates the foot detected by foot presence sensor 310 and determined to be present in footwear. Subsequent increases in baseline capacitance represent changes in baseline capacitance measured by foot presence sensor 310 , such as due to changes in the environment at or near the sensor. The change detected at time T ₁₃ may indicate that the foot has been removed from the footwear and is no longer sensed proximate to the foot presence sensor 310 . Subsequent capacitance changes (eg, at time T ₁₆ ) may indicate that the foot is being reinserted into the footwear.

FIG. 16 is a diagram showing a chart 1600 of time-varying information and signal form limits from a capacitive foot presence sensor as a whole, according to an illustrative embodiment. An example includes fifth and sixth capacitance signals 1205 and 1206 plotted on chart 1600 . Chart 1600 further includes shape limits 1601 . Shape limit 1601 can be compared to a sampled segment of the capacitance signal from foot presence sensor 310 . The comparison may be performed using foot presence sensor 310 or processor circuit 320 to determine whether a particular sampled segment conforms to shape limit 1601 . In the example of FIG. 16 , the shape limit defines a lower bound indicating that, if exceeded, the capacitance signal segment does not, or is unlikely to, indicate the presence of a foot proximate to the foot presence sensor 310 .

The illustrated sampled portion of fifth capacitance signal 1205 conforms to shape limit 1601 . In the example of FIG. 16 , shape limits 1601 define capacitance signal magnitude changes, or shapes that include dip, dwell, and recovery. After identification that the fifth capacitance signal 1205 conforms to all or part of the shape limit 1601, an interrupt signal may be provided to indicate the presence or successful detection of a foot.

The illustrated sampled portion of sixth capacitance signal 1206 does not conform to shape limit 1601 . For example, since the rapid decrease and long dwell time of the sixth capacitance signal 1206 is outside the boundaries defined by the shape limit 1601, the interrupt signal can be withheld so that, for example, the foot is detected by the foot presence sensor 310. indicates that it does not

Shape limit 1601 can be fixed or variable. For example, form limits may be adjusted based on reference capacitance, environment, footwear use case, user, information about sensitivity preference, or other information. For example, shape limit 1601 may be different depending on the type of footwear used. That is, a basketball shoe may have a different shape limit 1601 than a running shoe, at least in part because of the different geometry or materials of the shoe or because of the expected amount of time that a user will put on or take off a particular article of footwear. In one example, form limits 1601 may be programmed by the user, such as to correspond to the user's unique putting on or taking off footwear preferences or procedures.

As noted above, the foot presence sensor 310 may have an associated fixed or variable baseline or reference capacitance value. The reference capacitance value may be a function of electrode surface area, electrode placement relative to other footwear components, or footwear orientation, or the environment in which the sensor or footwear itself is used. That is, the sensor may have some associated capacitance value with no foot in the footwear, and the value may be a function of the dielectric effect of one or more materials or environmental factors at or near the sensor. In one example, an orthotic insert (eg, an insole) within footwear may change dielectric properties of the footwear at or near a capacitive sensor. Processor circuit 320 may optionally be configured to calibrate foot presence sensor 310 when a baseline or reference characteristic changes, such as when an insole is changed. In one example, the processor circuit 320 may be configured to automatically detect a baseline or reference capacitance change, or may be configured to update the baseline or reference capacitance in response to a user input or command.

17 is a diagram showing an example 1700 of a diagram of a capacitance-based foot presence sensor in a midsole of an article of footwear positioned generally below a dielectric stack. Example 1700 includes housing structure 150, such as may include or utilize a lace tightening engine or drive mechanism 340 that is operated based at least in part on information from capacitive foot presence sensor 1701. . The capacitive foot presence sensor 1701 can be configured to provide a capacitance signal or a signal indicative of capacitance (capacitance-indication) based on the presence or absence of a body 550 proximate to the sensor.

One or more materials may be provided between the body 550 and the capacitive foot presence sensor 1701, and the one or more materials may affect the sensitivity of the sensor, or the signal-to-noise of the signal from the sensor. Rain may affect it. In one example, one or more materials form a dielectric stack. One or more materials may be, among other things, socks 1751, air gaps such as those resulting from the height of the arch of body 550 at or near the sensors, insoles 1750, fasteners 1730 such as Velcro, or dielectrics. A filler 1720 may be included. In one example, when the capacitive foot presence sensor 1701 is provided inside the housing structure 150, the top wall of the housing structure 150 itself is part of the dielectric stack. In one example, the orthodontic insert may be part of a dielectric stack.

The inventors have recognized that providing a dielectric stack with a high relative permittivity, or high k-value, can improve the input sensitivity of the capacitive foot presence sensor 1701. A variety of high k-value materials have been tested and evaluated for utility and fit within footwear. The dielectric stack is comfortable to use under the foot in footwear and has sufficient dielectric effect to increase the sensitivity of the capacitive foot presence sensor 1701, such as with an airgap or other low k-value material in place. It may include one or more members specified to have hardness or durometer properties that provide In one example, suitable materials include materials that are weathering or durable, low and high temperature resistant, and stress-crack resistant.

In one example, dielectric filler 1720 can include a neoprene member. The neoprene member comprises a closed cell foam material having a hardness value of about 30 Shore A. In one example, dielectric filler 1720 may include rubber, plastic, or other polymer-based members. For example, dielectric filler 1720 may include ethylene-vinyl acetate (EVA). The EVA member may have about 10 to 40% by weight of vinyl acetate and the balance ethylene. Other ratios may also be used. In one example, dielectric filler 1720 may include a material with improved conductivity properties, such as including a doped plastic or rubber. In one example, dielectric filler 1720 includes an EVA member doped with carbon, such as having a greater k-value than an undoped EVA member having the same or similar ethylene to vinyl acetate ratio.

FIG. 18 shows an example including a chart 1800 showing, as a whole, the effect of dielectric filler 1720 on the capacitance-indicating signal from capacitive foot presence sensor 1701 . In the chart 1800, the x-axis represents the number of digital samples and corresponds to elapsed time, and the y-axis represents the relative measure of the capacitance detected by the capacitive foot presence sensor 1701. Chart 1800 shows a capacitance-indicative first signal 1801 corresponding to a first type of dielectric filler 1720 material and a capacitance-indicative second signal 1802 corresponding to a second, different type of dielectric filler 1720. contains a time-aligned overlay of

In one example, first signal 1801 corresponds to footwear having a first dielectric member provided as dielectric filler 1720 . The first dielectric member may include, for example, polyurethane foam having a first dielectric k-value. Chart 1800 illustrates multiple examples of a body 550 being inserted into an article of footwear that includes a first dielectric member and a foot presence sensor 1701 and then removed. For example, first portion 1820 of first signal 1801 represents the reference or baseline capacitance measured by capacitive foot presence sensor 1701 . In the example of Figure 18, the criterion or baseline is normalized to a value of zero. A criterion or baseline condition may correspond to the foot not being present in the footwear. That is, the first portion 1820 of the first signal 1801 indicates that the foot is not in the footwear. At a time approximately corresponding to sample 600, body 550 may be inserted into footwear and positioned at or near capacitive foot presence sensor 1701 and first dielectric member. After insertion, the magnitude of the first signal 1801 changes, for example, by a first amount 1811, indicating that the foot (or other body) is present within the footwear. In the example of FIG. 18 , body 550 is present in the footwear for a period approximately corresponding to second portion 1821 of first signal 1801 corresponding to samples 600-1400, for example. At a time approximately corresponding to sample 1400, body 550 may be removed from the footwear. When the body 550 is removed, the first signal 1801 can return to its reference or baseline value.

In the example of FIG. 18 , second signal 1802 corresponds to footwear having a second dielectric member provided as dielectric filler 1720 . The second dielectric member may include various materials other than the first dielectric member. In one example, the second dielectric member comprises neoprene foam having a second dielectric k-value that exceeds the first dielectric k-value of the first dielectric member described above. In one example, the second dielectric member is an EVA member having a third dielectric k-value that exceeds the first dielectric k-value of the first dielectric member (e.g., carbon, or one that increases the dielectric properties, i.e., k-value, of the member). doped with other materials).

Chart 1800 shows a number of examples of body 550 being inserted into an article of footwear that includes second dielectric member and foot presence sensor 1701 and then removed. The first portion 1820 of the second signal 1802 represents the reference or baseline capacitance measured by the capacitive foot presence sensor 1701 and, in the example of FIG. 18 , the first portion of the second signal 1802 (1820) indicates that the foot is not in footwear. At a time approximately corresponding to sample 600, body 550 may be inserted into footwear and positioned at or near capacitive foot presence sensor 1701 and the second dielectric member. After insertion, the magnitude of the second signal 1802 changes, for example, by a second amount 1812, indicating that the foot (or other body) is present within the footwear. In one example, the second amount 1812 exceeds the first amount 1811 . The difference in size variation is due to the type of material used for dielectric filler 1720. That is, the magnitudes of the capacitance-indicating first and second signals 1801 and 1802 may be different when different dielectric stacks are used. When the dielectric stack includes high-k-value dielectric pillars 1720, the difference in size, or difference from baseline, is greater than when the dielectric stack includes low-k-value dielectric pillars 1720.

In one example, the orthotic insert comprises part of a dielectric stack within footwear. The inventors performed various tests to evaluate the effectiveness of various orthotic inserts on capacitive foot sensing technology. Some results of the test are shown in FIG. 23 and will be described later. Full or partial length corrective insoles were tested. The addition of regular (partial length) braces to the footwear increased the overall dielectric effect of the stack and reduced the electric field sensitivity to the presence of the foot. The sensed signal amplitude (e.g., corresponding to the sensed change in capacitance) also decreased in the presence of the calibrator. However, the RMS amplitude of the noise floor was similar with and without the calibrator. Responses under loaded and unloaded conditions were also similar.

Based on the results of the braces test, using capacitive sensing for detection of foot presence with regular or full length braces is feasible with respect to signal-to-noise resolution. Using partial or full length correctors, SNRs in excess of the desirable minimum of about 6 dB can be used to analyze foot presence, and can be used under both low and high duty load conditions. In one example, the foot presence sensor 310 may include or utilize a capacitance offset range to compensate for the added dielectric effect of the corrector.

Variations in the airgap between the full length corrector and the electrodes of the foot presence sensor 310 can correspond to measurable variations in SNR as a function of applied load. For example, as described in the example of FIG. 18, if a high k-value dielectric material is provided at or near the capacitive foot presence sensor, the SNR is improved compared to examples that include or use a low k-value dielectric material. It can be.

It was found that the various foot regions behaved similarly under low load conditions such that they did not exhibit significant variations in the gap distance under the braces. However, under high load conditions, such as when the user is standing, the arch region of the brace may be compressed and the air gap may be substantially minimized or eliminated. Thus, under sensing conditions, the electric field measured in the presence of the corrector may be similar in magnitude to the electric field measured using a manufacturing or OEM insole. In one example of a corrector or OEM manufactured insole that creates an air gap between the foot presence sensor 310 and the body being detected, various materials may be provided or added to compensate or fill the air gap. For example, a gap fill foam such as neoprene or doped EVA may be provided on the bottom of the full length straightener.

In one example, including the corrector within the insole increases the overall dielectric thickness of the dielectric stack, reducing the electric field sensitivity to the presence of a foot. In other words, the signal amplitude obtained from the capacitive sensor is overall reduced when a calibration insert is used. The RMS amplitude of the noise characteristics was overall similar with and without the calibrator. It has also been found that the dielectric member occupying the volume between the sensing electrode of the capacitive sensor and the lower surface of the calibrator can significantly affect the sensitivity of the capacitive sensor. For example, polyurethane foam with a k-value of 1.28 can have a signal amplitude that is about 70% less than measured using neoprene foam with a dielectric constant or k-value of about 5.6. With the same noise amplitude, this equates to an SNR difference of about 4.6 dB. Using capacitive sensing for detection of foot presence with carbon fiber braces is thus feasible with respect to signal-to-noise. The SNR exceeds the minimum of 6 dB required to analyze foot presence.

FIG. 19 shows an example chart 1900 showing, as a whole, a portion of a capacitance-indicative third signal 1803 from a capacitance-based foot presence sensor in footwear. In the chart 1900, the x-axis represents the number of digital samples and corresponds to elapsed time, and the y-axis represents the relative measure of the capacitance detected by the capacitive foot presence sensor 1701. Information from the third signal 1803 can be used to determine, among other things, whether the user is applying a downward force to the footwear, such as can be used to discern whether the user is sitting or standing; or to determine the number of steps, or to determine user gait characteristics. In the example of FIG. 19, the mutual capacitance sensing mode was used. In mutual capacitance sensing mode, the increased capacitance as detected by the sensor corresponds to a decrease in signal as shown. In another example, a self-capacitance sensing mode may be used. In the self-capacitance sensing mode, increased capacitance as detected by the sensor (e.g., corresponding to compression of the foam insert over the sensor) corresponds to an increase in signal.

In the example of FIG. 19 , at an initial time, such as corresponding to sample “0” on the x-axis, the third signal 1803 may have a reference or baseline value of about zero on the relative capacitance scale. At 1901, or approximately sample 175 on the x-axis, third signal 1803 includes a shoe-wearing event corresponding to, for example, body 550 being inserted into footwear. The third signal 1803 includes a shoe removal event at 1910, or approximately sample 10000, after which the third signal 1803 returns to the baseline value.

The example of FIG. 19 further includes a specified threshold 1920 . Threshold 1920 can correspond to a relative capacitance value indicating that body 550 is present within the footwear. For example, when the foot or body 550 is present in the footwear, the relative capacitance indicated by the third signal 1803 exceeds the threshold 1920, and when the foot or body 550 is not present in the footwear, the relative capacitance exceeds the threshold ( 1920) can fall below. As further described herein, the threshold 1920 may be dynamically adjusted using various methods or techniques, eg, to account for environmental changes or footwear material changes.

Between the putting on and taking off footwear events at 1901 and 1910, such as corresponding to the interval between samples 175 and 1000, the wearer of the article of footwear may transition between sitting and standing positions multiple times. The transition between sitting and standing may correspond to fluctuations in the third signal 1803 due, for example, to compression and relaxation of the footwear material forming the dielectric stack over the capacitive sensor providing the third signal 1803. can That is, when the user is standing and applying a downward force on the dielectric stack, one or more materials within the dielectric stack may compress and the user's foot may move closer to the capacitive sensor, relative to the measured relative to the sensor. change capacitance. When the user is seated and the downward force on the dielectric stack is reduced, the dielectric stack material may relax or stretch, and the user's foot may move away from the capacitive sensor.

Eccentric event 1901 includes the turbulent portion of the third signal 1803. That is, instead of representing a smooth or gentle transition, the third signal 1803 fluctuates rapidly and erratically as the user places his or her foot into position within the footwear. In one example, the put on event 1901 is a user applying various forces on the footwear material, including over a dielectric stack, and a user adjusting the tension of the footwear relative to the user's foot, and thus a response to a capacitive sensor. lace tightening, such as automatic or manual lace tightening, which may be responsive to adjusting the position of the user's feet. In the example of FIG. 19 , after the novelty event at 1901 , the user may be seated for a first period 1931 , such as corresponding to samples 200-275 . During the first period 1931, the third signal 1803 may have an average value of about 220 relative capacitance units.

After the first period 1931, the user can stand, allowing the material(s) of the dielectric stack to compress thereby allowing the user's foot to access the capacitive sensor underneath the stack. When the user is fully standing and compressing the dielectric stack, the third signal 1803 may average about 120 relative capacitance units during the second period 1932 . That is, the magnitude of the third signal 1803 transitions as the user transitions from sitting to standing, or as the user transitions from applying a minimum force on the dielectric stack to applying a maximum force on the dielectric stack, It can change by the first amount of change in size 1951, thereby changing the dielectric properties of the dielectric stack itself. In one example, the first magnitude change 1951 can correspond to the magnitude of the force applied on the dielectric stack. That is, the first magnitude change 1951 is predicted to apply a larger force on the dielectric stack when the user is running compared to walking, for example, and therefore determines, among other things, the user's weight or whether the user is running or walking. can be used to determine

In the example of FIG. 19 , at approximately sample 375, the third signal 1803 returns to a value of about 220 relative capacitance units when the user returns to a sitting position. The user sits for a third period 1933 before the next relative capacitance change.

The dotted line portion of the third signal 1803 (approximately after sample 500 in the example of FIG. 19) represents the lapse of time and the change in scale of the x-axis. In one example, samples 0-500 correspond to times when the footwear with the capacitive sensor is new, or when a new dielectric stack is used with the footwear. Samples after approximately sample 9,800 may correspond to times when the footwear is older or partially worn, or when a portion of the dielectric stack is compressed and fails to completely rewind or expand under relaxed or unused conditions.

In the example of FIG. 19 , the third signal 1803 represents a number of user transitions between sitting and standing postures. In one example, the fourth period 1934 and the sixth period 1936 correspond to a sitting position with minimal force or pressure applied to the dielectric stack within the footwear. A fifth period 1935 corresponds to a standing posture with an increased force applied on the dielectric stack. In one example, the fourth and sixth periods 1934 and 1936 may correspond to an average value of about 240 relative capacitance units. That is, the average of the fourth and sixth periods 1934 and 1936 may exceed the average of the first and third periods 1931 and 1933 which was about 220 units. In one example, the difference between these average values may be due to wear and tear of one or more portions of the dielectric stack or other footwear material that change over time with use of the footwear. In one example, the fifth period 1935 can correspond to an average value of about 150 relative capacitance units that exceeds the average value of about 120 units during the third period 1933 . Moreover, the difference between sitting and standing postures, i.e., between applied and unenergized dielectric stacks, may be different for new and used footwear. The first magnitude change 1951 represents the approximately 200 unit change in relative capacitance for new footwear between standing and sitting positions, and the second magnitude change 1952 represents the old or used change between standing and sitting positions. represents an approximately 150 unit change in relative capacitance for footwear. In the example of FIG. 19 , the fourth to sixth periods 1934 to 1936 are also relatively noisy compared to the first to third periods 1931 to 1933 which may additionally be attributable to wear and tear of footwear or sensor components. indicates a signal with

19 thus shows that information from third signal 1803 can be used to indicate, among other things, footwear life cycle status or footwear usage characteristics. The information is used to prevent user injury by, for example, reporting or alerting the user that one or more footwear components have become worn or worn out and may no longer be available to provide optimal or sufficient cushioning or foot retention. can be used to help For example, information from third signal 1803 can be used to determine the life cycle state of a footwear component, such as an insole component, orthotic insert, or other component of the footwear.

In one example, information from a capacitive foot sensor can be used to derive or determine step frequency information that can later be used as a step counter or pedometer, such as when a user's stride length is known or determinable. . Referring again to FIG. 19 , fluctuations in the third signal 1803 may correspond to different footfall events. For example, second period 1932 may correspond to an interval that includes a first portion of a user's step, such as when the user's first foot is on the ground and the user's body weight applies a force to the user's footwear, where the footwear is and a capacitance-based foot presence sensor providing a third signal 1803. After the second period 1932, the user may shift his or her weight from the user's first foot to his or her second foot. As a result, the pressure or force applied to the footwear by the user can be reduced, and a corresponding change in the third signal 1803 can be observed. For example, the magnitude of the third signal 1803 may increase by, for example, the first magnitude change amount 1951 . If the user steps again and returns to the first foot, the magnitude of the third signal 1803 may decrease by, for example, the same or similar first magnitude change amount 1951 . In one example, this size change may be dependent on or related to a force applied onto the footwear by the user, which may then correspond to how fast the user walks or runs. For example, a greater magnitude change may correspond to a running pace, and a smaller amount of change may correspond to a walking pace. In this way, the user's pace may be determined using one or both of the size change amount and the period or ratio of the size change event.

In one example, the duration, interval, or number of samples of the specified portion of the third signal 1803 can be used to determine the step interval or number of steps. For example, the first period 1931 may have a sample number of about 75 samples, and the second period 1932 may have a sample number of about 50 samples. The first period 1931 corresponds to the first portion of the user's walking or stepping cycle when the first foot is off the ground, and the second period 1932 corresponds to the after of the user's walking or stepping cycle when the first foot is on the ground. Corresponding to the second part of , the user may have a step interval of about 125 samples. Depending on the sample rate, the stride interval may be correlated with a walking or running pace, for example using the processor circuit 320 to process the sample number information.

In one example, the period, interval, or number of samples between signal magnitude changes of the third signal 1803 can be used to determine the step interval or number of steps. Magnitude changes greater than, for example, a specified threshold magnitude change may be identified by processor circuit 320, and processor circuit 320 may then calculate or identify an interval length between the identified magnitude changes. For example, the beginning of the second period 1932 may be identified by the processor circuit 320 as being at approximately sample 325 corresponding to a magnitude change observed in the third signal 1803 greater than a specified threshold change, for example. . The end of the second period 1932 may be identified by the processor circuit 320 as being at approximately sample 375 greater than the specified threshold change and corresponding to the subsequent change in magnitude observed, e.g., in the third signal 1803. there is. The processor circuit 320 may calculate the difference between the number of samples and determine that the second period 1932 is about 50 samples within the period. Processor circuit 320 can similarly determine a duration or sample length for any one or more segments of third signal 1803 . The processor circuit 320 may then determine the step interval, which may be used to determine the speed at which the user is moving or the distance traveled. In one example, information about the user's stride length may be used in conjunction with the step interval information to determine the distance traveled.

In one example, the user's stride length is not specified or known. The user's stride length may be determined using information from one or more other sensors, such as an accelerometer or a position sensor (eg, a GPS sensor), optionally in conjunction with foot sensor information. For example, information from a location sensor may indicate the total distance traveled by the user over a specified period of time. The processor circuit 320, or another processor pertaining to the footwear, may receive the third signal 1803 and correlate the steps and distances traveled with the number of signal magnitude change events to determine an average user stride or stride length. For example, if a user moves 100 meters in 30 seconds, and the capacitance-indicating signal from the foot presence sensor indicates 100 signal magnitude change events within the same 30-second interval, the processor circuit 320 or other processor determines the user's stride length. It can be determined that approximately 100 meters/100 size change events = 1 meter per size change event.

In one example, information from the third signal 1803 can be used to determine a user gait characteristic, or a change in the user's gait. The processor circuit 320 may be configured to, for example, monitor the capacitance-indicating signal over time, such as to identify changes in the signal. For example, the processor circuit 320 may monitor for a first (or other) period or first footfall event after the detected novelty event. In general, a user can be predicted to start walking or running in a similar way, such as using a similar gait, whenever the user puts on the footwear. If the processor circuit 320 detects a deviation from an established baseline or average signal characteristic after wearing the footwear, an alert may be given to the user. Similarly, processor circuit 320 may be configured to detect usage characteristics or deviations that may be associated with user fatigue or mood that may lead to injury. For example, a deviation from an established baseline or reference signal characteristic may cause the foot or ankle to change within footwear, such as because changes in foot position may correspondingly change dielectric properties at or on a capacitance-based foot presence sensor. It can indicate turning or sliding. In one example involving an automatic shoelace tightening engine, information about foot position changes can be used to automatically tighten footwear against a user's foot to help prevent injury to the user.

20 shows an example of foot presence signal information for multiple sit-to-stand cycles as a whole. This example includes a chart 2000 showing the relationship between time (x-axis) and “counts (y-axis)”. The count corresponds to the output of the capacitive foot presence sensor. For example, the count may correspond to a digital signal from an analog-to-digital converter receiving an analog output from a capacitive sensor.

In the example of FIG. 20 , a zero count represents a reference condition, such as corresponding to the absence of a foot in the footwear containing the sensor. A count greater than zero indicates that the capacitive foot presence sensor has sensed something other than a footless condition, such as, for example, a foot or other body or object present within or proximate to the footwear as a result of the sensor. The magnitude of the count corresponds to the location of the sensor's electrodes on the sensor's target, such as a foot. In some examples, as described in the example of FIG. 19 , the magnitude of the count corresponds to the force exerted by the foot on the bottom of the footwear. For example, when the foot is within the footwear and the wearer is sitting, and thus no significant force is being applied to the sole of the footwear, a first, smaller count may be registered by the sensor. If the foot is within the footwear and the wearer is standing and thus a relatively significant force is applied to the sole of the footwear, a second, larger count may be registered by the sensor. These and other count size variation conditions are shown generally in FIG. 20 . In the example of Figure 20, self-capacitance sensing mode is used. Thus, an increase in the detected capacitance corresponds to an increase in the signal as shown.

In the example of FIG. 20 , the interval in the absence of feet is indicated by a first interval 2001 from time zero to time 900 . During the footless state of the first interval 2001, the sensor registers an approximate zero count. Following the first interval 2001 with no feet, a first interval 2002 from about time 900 to about time 1250 is indicated. During the first wearing interval 2002, as the wearer's foot enters the shoe and sits on the footbed, and as the wearer adjusts the footwear, such as flattening any folds within the insert supporting the foot, the count It fluctuates.

Following the first refreshment interval 2002, a first sitting interval 2003 from about time 1250 to about time 1750 is indicated. During the first sitting interval 2003, the count settles to a baseline value of about 150 counts. During the first sitting interval 2003, the wearer remains substantially still and maintains a relaxed posture. The count size remains at a substantially constant value as long as the wearer remains stationary. Following the first sitting interval 2003, from about time 1750 to about time 2200, a first raised-foot interval 2004 is indicated. During the first foot-lift interval 2004, the wearer remains seated, but lifts his or her foot off the floor to remove any downward force applied to the sensor-equipped footwear. Since the wearer's foot is still physically within the footwear during the first foot-lift interval (2004), the count magnitude remains at a value greater than zero, but since less force is applied to the sensor, the first sit-up interval (2003 ) is smaller than the size observed during In the example of FIG. 20 , the sensor registers about 100 counts during the first foot-lift interval 2004 .

Following the first foot lift interval 2004, a first standing interval 2005 from about time 2200 to about time 2750 is indicated. During the first standing interval 2005, the wearer stands upright with his or her feet on the floor, thereby applying a downward force to the footwear and sensors. As observed from FIG. 20 , during the first writing interval 2005 the count size increases to about 300 counts. The count magnitude may be larger than the magnitudes observed during the first sit interval 2003 and the first foot lift interval 2004, since a greater relative force is applied to the footwear by the wearer during the first stand interval 2005. Because of this, it compresses the dielectric member over the electrode of the capacitive sensor, increasing the capacitance detected by the sensor. Following the first standing interval 2005, a first step/walk interval 2006 from about time 2750 to about time 3200 is indicated. During the first step/walk interval 2006, the wearer steps or walks while wearing the footwear. The count size fluctuates during the first stride/walk interval 2006, such fluctuations corresponding to the wearer's stride cycle. For example, the count magnitude reaches a peak or maximum during the first step/walk interval 2006 corresponding to the moment the wearer applies a force to the sensor-containing footwear, such as when the wearer's foot contacts the ground. The count magnitude reaches a valley or minimum during the first step/walk interval 2006 corresponding to the moment the wearer lifts their foot. The peak magnitude value generally exceeds the magnitude of the count values observed during the first standing interval 2005, and the minimum magnitude value generally corresponds to the value observed during the first foot-lift interval 2004. In one example, the count plateau region corresponds to a period in which a foot is present on the ground (eg, corresponding to a step-off event) or a period in which a foot is lifted off the ground. Thus, the user's moving speed can be differentiated or determined based on the relative length of each congestion area.

Following the first step/walk interval 2006, a second sit interval 2007 from about time 3200 to about time 3600 is indicated. The count magnitude during the second sitting interval 2007 is smaller than the count magnitude observed during the first sitting interval 2003, in the example of FIG. 20 . These changes may be due to changes in the baseline or reference capacitance of the sensor, environmental effects, or the wearer's posture following the first step/walk interval 2006, among other things.

Following the second sitting interval 2007, a first peeling interval 2008 from about time 3600 to time 3750 is indicated. During the first takeoff interval 2008, the count fluctuates as the wearer's foot is removed from the footwear. Following the first stripping interval 2008, the count returns to a baseline value of about zero counts corresponding to a footless condition.

Following the return to zero count at about time 3750, the example of FIG. 20 includes a second cycle starting at about time 4500, which cycle includes another walk-on interval, a sit-up interval, a foot-lift interval, and a stand-up interval. interval, stepping/walking interval, secondary sitting interval, and stripping interval, in that order.

In one example, a foot presence threshold may be used to determine whether a foot is present or absent in a footwear that includes a capacitive foot presence sensor. For the sensor configuration used to create the example of FIG. 20 , one could choose the foot presence threshold to be, for example, about 30 signal counts from the sensor. A foot present threshold may indicate that a foot is present in footwear (or that a foot is more likely to be present in footwear) if a count greater than a specified number of counts is observed. Similarly, the foot present threshold may indicate that the foot is not in the footwear (or that the foot is not likely to be in the footwear) if fewer than a specified number of counts are observed.

In one example, the foot presence threshold may be adapted or changed in response to changes in sensor characteristics, changes in environmental influences on the sensor, or changes in user preferences. For example, if a sensor electrode is damaged or altered, the baseline capacitance value of the sensor may change, and thus the reference measurement from the sensor may also change. In one example, various electric and/or magnetic fields can affect the behavior of the sensor, which can change the baseline capacitance value of the sensor. In one example, a user may adjust the sensor's foot presence detection sensitivity, such as to make the sensor (and the ability to trigger the sensor) more or less responsive to foot detection events. The foot presence threshold may be adjusted to accommodate one or more of these or other changes without loss of foot presence sensing functionality.

21A to 21D are overall diagrams showing examples of different configurations of planar electrode assemblies. The shape or profile of each assembly as a whole conforms to the shape of a shoelace engine enclosure or housing configured to receive an electrode assembly, although other shapes may be similarly utilized. In the example of FIGS. 21A-21D , the electrode assembly is generally planar, with a first conductive region or electrode around the periphery (shown as a generally shaded region) and a second non-conductive region located generally centrally and surrounded by the first conductive region. It contains a conductive region. Other examples may include a plurality of conductive and non-conductive regions, such as may be disposed side by side or concentrically.

21A shows a first electrode assembly 2101 comprising a first non-conductive region 2131 having a first surface area A ₁ and a first electrode region 2121 having an average first thickness T ₁ . includes In one example, the average first thickness T ₁ is about 2 mm and includes an about 2 mm wide conductive strip or loop extending substantially around the periphery of the first electrode assembly 2101 . In one example, the assembly includes a first non-conductive boundary 2111 outside the first electrode region 2121 .

21B includes a second electrode assembly 2102 including a central second non-conductive region 2132 having a second surface area A ₂ smaller than the first surface area A ₁ . The second electrode assembly 2102 includes _{a second electrode region 2122 having an average second thickness T 2 greater} than the average first thickness T 1 . In one example, the average second thickness T ₂ is about 4 mm and includes an about 4 mm wide conductive strip or loop extending substantially around the periphery of the second electrode assembly 2102 . In one example, the assembly includes a second non-conductive border 2112 outside the second electrode area 2122 .

21C includes a third electrode assembly 2103 including a central third non-conductive region 2133 having a third surface area A ₃ smaller than the second surface area A ₂ . The third electrode assembly 2103 includes a third electrode region 2123 having an average third thickness T ₃ greater than the average second thickness T ₂ . In one example, the average third thickness T ₃ is about 6 mm and includes about 6 mm wide conductive strips or loops extending substantially around the periphery of the third electrode assembly 2103 . In one example, the assembly includes a third non-conductive boundary 2113 outside the third electrode region 2123 .

FIG. 21D shows a fourth electrode region 2124 including a central flood electrode region 2124 having a larger surface area than any of the first to third electrode regions 2121 to 2123 in the example of FIGS. 21A to 21C. electrode assembly 2104. In one example, the assembly includes a fourth non-conductive boundary 2114 outside the central flood electrode region 2124. That is, the fourth electrode region 2104 includes an electrode that occupies substantially all of the available surface area and does not include a central non-conductive region.

22 is a diagram showing an example of a chart showing the relationship between capacitive sensor sensitivity and sensor type as a whole. Each curve shown corresponds to data obtained using a different one of the example electrode assemblies of FIGS. 21A to 21D . For example, the first curve 2201 corresponds to the first electrode assembly 2101 (eg, the first electrode region 2121 having a width of 2 mm), and the second curve 2202 corresponds to the second electrode assembly 2102 [ For example, a 4 mm wide second electrode region 2122], and a third curve 2203 corresponds to a third electrode assembly 2103 (eg, 6 mm wide third electrode region 2123) , the fourth curve 2204 corresponds to the fourth electrode assembly 2104 (eg, the flood electrode region 2124).

In the example of FIG. 22, the first to fourth curves 2201 to 2204 are the foot strike force applied to a specific sensor among capacitive sensors and the resulting number of counts from the sensor (capacitive sensor or ADC connected to the capacitive sensor) As an output from a processor, such as a circuit, see above regarding "count"). For example, first curve 2201 indicates that if a weight of about 20 pounds is applied over a capacitive sensor that includes first electrode assembly 2101, the resulting number of counts from the sensor is about 20. The first curve 2201 also indicates that when a weight of about 100 pounds is applied over the capacitive sensor, the resulting number of counts from the sensor is about 70. Over the illustrated interval from about 20 pounds of force to about 80 pounds of force, the sensor including the first electrode assembly 2101 exhibits a difference of about 50 counts.

In the example of FIG. 22 , the second curve 2202 indicates that if a weight of about 20 pounds is applied over the capacitive sensor that includes the second electrode assembly 2102, the resulting number of counts from the sensor is about 60. indicates that The second curve 2202 also indicates that if a weight of about 100 pounds is applied over the capacitive sensor, the resulting number of counts from the sensor is about 170. Over the illustrated interval from about 20 pounds of force to about 80 pounds of force, the sensor including the second electrode assembly 2102 exhibits a difference of about 110 counts.

In the example of FIG. 22 , the third curve 2203 indicates that if a weight of about 20 pounds is applied over the capacitive sensor that includes the third electrode assembly 2103, the resulting number of counts from the sensor is about 75. indicates that The third curve 2203 also indicates that when a weight of about 100 pounds is applied over the capacitive sensor, the resulting number of counts from the sensor is about 190. Over the interval shown from about 20 pounds of force to about 80 pounds of force, the sensor including the third electrode assembly 2103 exhibits a difference of about 115 counts.

In the example of FIG. 22 , the fourth curve 2204 indicates that if a weight of about 20 pounds is applied over the capacitive sensor that includes the fourth electrode assembly 2104, the resulting number of counts from the sensor is about 80. indicates that The fourth curve 2204 also indicates that when a weight of about 100 pounds is applied over the capacitive sensor, the resulting number of counts from the sensor is about 255. Over the illustrated interval from about 20 pounds of force to about 80 pounds of force, the sensor including the fourth electrode assembly 2104 exhibits a difference of about 175 counts.

Each of these different sensor electrode assemblies or configurations exhibit a substantially linear relationship over the weight intervals shown. However, different slopes of the first to fourth curves 2201 to 2204 represent different sensor sensitivities to weight changes. For example, first curve 2201 indicates that first electrode assembly 2101 is relatively insensitive to weight changes, showing only about 50 counts difference over a 60 pound force variation. In contrast, the fourth curve 2204 shows that the fourth electrode assembly 2104 is relatively more sensitive to weight changes, showing a difference of about 175 counts over the same 60 pound force variation. Thus, a sensor that includes or utilizes the fourth electrode assembly 2104 provides greater resolution and more information for weight-change related events, such as standing, sitting, or stepping/walking events, in some examples.

Fig. 23 is a diagram showing an example of a chart showing, as a whole, the relationship between sensor sensitivity and various types of orthodontic inserts. As noted above, the orthotic insert may comprise part of a dielectric stack within footwear. The present inventors performed various experiments to evaluate the effect of various orthodontic inserts on capacitive foot sensing using the planar electrode configuration described above. In the example of FIG. 23 , a third electrode assembly 2103 (eg, a 6 mm wide conductor) was used during testing. The addition of regular (partial length) braces to the footwear resulted in an increased overall dielectric effect of the stack and a decrease in electric field sensitivity to the presence of the foot. The sensed signal amplitude (e.g., corresponding to the sensed change in capacitance) also decreased in the presence of the calibrator. However, the RMS amplitude of the noise floor was similar with and without the calibrator. Responses under loaded and unloaded conditions were also similar. In the example of Figure 23, a baseline or reference capacitance or offset was established for each insert tested to zero the test system.

In the example of FIG. 23 , first straightener curve 2301 corresponds to a fiberglass insert, second straightener curve 2302 corresponds to a rigid polymer insert, and third straightener curve 2303 corresponds to a polyurethane insert (e.g. , "standard" or factory-supplied insole material), and the fourth straightener curve 2304 corresponds to a carbon fiber insert. Each of the first through fourth straightener curves 2301 through 2304 indicate that the overall linear relationship between force and sensor output, i.e., count, is substantially preserved when a straightener insert is used.

In the example of FIG. 23 , the baseline or reference capacitance value may be different for each insert. In this example, the carbon fiber insert has a larger sensor capacitance than the others. In the example of FIG. 23 , the sensor response (represented by slope) for a given insert decreases as stiffness increases, as long as the insert is non-conductive. In other words, stiffer or harder inserts generally correspond to flatter response curves. Because carbon fibers are conductive, the curve is instead the steepest among others tested. The capacitance increase with this compression is the largest because the conductive insert directs the e-field from the sensor back to signal ground via a shorter and higher capacitance path than would be provided if other inserts were used.

FIG. 24 is an illustration of an example chart 2400 showing, as a whole, the relationship between capacitive sensor response and fluid saturation change of one or more components of footwear that includes the capacitive sensor. An example of chart 2400 is a diagram showing the effect of a simulated foot applied to the ankle of a foot wearing a sock and placed inside an article of footwear that includes a capacitive sensor. This example corresponds to a test conducted in which the output of a capacitive sensor was monitored over time and over multiple sit/stand cycles as a sweat proxy was added to the test assembly.

The test assembly included footwear including a foot with a sock on and a foot presence sensor according to one or more embodiments described herein. Sweat was simulated by introducing a saline solution into the ankle region of the foot. About 10 milliliters of the saline solution was added at each test interval, such as indicated in chart 2400 of FIG. 24 . The volume label indicates the total cumulative amount of solution added.

The example of FIG. 24 starts with a short first interval 2401 where the foot is not present in the footwear. During the first interval 2401, the capacitive sensor output is substantially zero count. During the second interval 2402, the foot is present in the footwear, substantially dry, and the count output from the sensor registers a non-zero baseline or reference value (eg, about 140 counts). During the third interval 2403 the wearer stands, thereby further increasing the count output from the sensor (eg, to about 200 counts). Following the third interval 2403, a plurality of sit/stand cycles are performed in succession, and the sweat simulated in each cycle is added.

The example of FIG. 24 shows that, as a whole, sweat or moisture can affect the output count from a capacitive sensor. For example, a baseline or reference count value when the test assembly is dry and the test subject is sitting (e.g., corresponding to the second interval 2402) is the same as when the test assembly is damp (e.g., partially saturated) and the test subject is sitting. may be less than the baseline or reference count value of the case. In the example of FIG. 24 , after adding about 60 milliliters of simulated sweat, the test assembly was substantially saturated. Thus, although a relative slope of the baseline or baseline count value can be observed between approximately zero and 60 milliliters of fluid added, the baseline or baseline count remains relatively unchanged as more liquid is added beyond 60 milliliters.

Baseline or reference conditions change for sitting and standing configurations across different fluid saturation levels, but with adjacent sitting periods (e.g., shown as plateaued valleys) and standing periods (e.g., as plateaued peaks). ) is substantially the same for any amount of simulated perspiration or saturation. For example, the difference in counts between sedentary and standing periods under saturated conditions, such as indicated by 70 mL in chart 2400, is observed to be about 75 counts, or about 15 counts compared to that observed under dry or non-saturated conditions. It is observed as a count difference. Thus, when changing the baseline or reference capacitance state, information about the presence or absence of a foot, or information about a force applied to a sensor, such as a foot strike force, is useful for distinguishing between sitting and standing postures. Information about footwear usage, which may be used, may be determined from the sensors.

FIG. 25 is an example of the chart of FIG. 24 showing the relationship between simulated sweat and sensor response as a whole, averaged signal. In the example of FIG. 25 , an average curve 2410 calculated as a slow-moving average of sensor counts is plotted on the chart 2400 of the example of FIG. 24 . Average curve 2410 can correspond to a reference capacitance value that changes over time and can be used as a criterion to identify the presence or absence of a foot in footwear. For example, if the wearer moves his or her foot out of the footwear, instead of relying on or using relative sensor information as in conventional occupancy of the footwear by the same or different wearer, an absolute criterion represented by the mean curve 2410 Sensor output comparison may be performed using That is, information about changing reference states for capacitive sensors, such as those corresponding to changes in moisture in or around the sensor or its target, is used to determine, among other things, whether a foot is in or out of footwear. thresholds can be adjusted.

Figure 26 shows an example of a state diagram 2600 for a sweat compensation method as a whole. State diagram 2600 includes a first block 2610 of states and a second block 2620 of states. The first block 2610 represents the basic foot presence detection function of the system. The second block 2620 represents a compensation function that can optionally be used to augment automated footwear operation, such as by updating a baseline or reference characteristic for a foot presence sensor within the footwear.

This example begins at state 2601, in which a footwear system that includes a foot presence sensor is at rest, sleep, such as when the foot is not in the footwear or when the foot is not in the vicinity of a foot presence sensor in the footwear. It can be in a sleep or inactive state. Sensor activity may be monitored by the processor circuitry, eg, according to a specified duty cycle or in response to a command from a user. If the sensor exhibits a non-zero or non-baseline response, the processor circuitry can wake up other circuitry to determine if the non-zero response indicates the presence of a foot or noise. For example, as footwear is worn and a capacitive sensor registers a capacitance other than a reference or baseline capacitance, a specified capacitance threshold may be met or exceeded, triggering further processing to verify whether a foot is present in the footwear.

At state 2602, the example includes filling a memory buffer with sensor data. The collected data may be sufficient to make a decision about the presence or absence of a foot, or distinguishing a foot presence signal from noise. If the buffer has a specified amount of data (e.g., corresponding to a specified number of samples or counts or a specified time period), in state 2603, the system performs a “debounce” analysis to: , can determine the presence or absence of feet. The debounce analysis may include, among other things, signal smoothing, averaging, time delay, or other processing that helps distinguish signal noise from available vomit presence information.

The debounce analysis may include monitoring a capacitance-indicating signal change and distinguishing a speed characteristic from the capacitance-indicating signal. In one example, debounce analysis monitors velocity characteristics to determine partial or complete seating of the foot relative to the footbed of the footwear. When the capacitance-indicating signal settles to a substantially constant or steady-state value, the foot may be considered sufficiently seated, whereby the system may perform one or more functions of an automated footwear, such as an automatic shoelace tightening function or a data collection function. can cause (trigger).

In the example of Fig. 26, the debounce analysis includes "capsense values greater than the threshold and slopes less than the threshold". "Capsense value greater than threshold value" indicates that the capacitance-indicating signal from the capacitive discharge presence sensor registers a value that exceeds the reference or baseline capacitance value. "Slope less than threshold" indicates that the rate of change of the capacitance-indicative signal from the sensor is less than a specified reference or baseline rate-of-change value, e.g., the foot is present in footwear but is substantially still related to the sensor. . If both conditions are met, an interrupt may be provided to one or more other processors or devices, which may trigger one or more other functions of the footwear.

That is, from state 2603, the system will either (1) indicate that a non-zero response indicates noise or a timeout before a positive foot presence indication, or (2) that a non-zero response indicates a valid foot presence signal. can decide In case (1), the system returns to state 2601 and resumes the low power monitoring state. In the case of (2), the system proceeds to state 2604. Proceeding to state 2604, the system verifies that the sensor response exceeds a specified threshold, and in some instances, the signal slope specification meets or exceeds a specified slope category. As shown in FIG. 26 , an interrupt based on a foot presence determination can be sent to one or more processors, circuits, or devices to initiate other activities or processes if it is determined that a foot is present. For example, the interrupt may be used by the lace-tightening engine to initiate an automated lace-tightening process or a hardware process. At state 2604, the system remains in a state that includes a positive foot presence indication, and the system can be configured to wait for another signal or interrupt to initiate or perform a subsequent process.

From state 2604, the system can enter a relatively low power or sleep state 2605, in which the system can retain additional data or detected changes in sensor signals. In one example, state 2605 represents a condition where the foot is in a shoe and the shoe is actively used or worn. For example, if in state 2603 the footwear is automatically laced and secured to the foot based on the foot presence determination from the debounce analysis, then in state 2605 the footwear periodically monitors sensor status or monitors the state of the footwear. It can remain fixed around the feet while waiting for other interrupts to change. In one example, monitoring the capacitance-indicating signal from the foot presence sensor in state 2605 monitors the signal at a relatively low frequency, such as 1-2 Hz or less, to identify if the capacitance-indicating signal changes by more than a threshold amount. includes doing

In one example, if the signal indicates greater than the threshold change, the state machine proceeds to state 2606, where the foot present-indicate interrupt may be cleared. In one example, proceeding to state 2606 may include a hardware or software check to determine if a baseline or reference characteristic of the sensor should be updated. For example, the notation "HW Anti-Touch Recal Threshold Passed" indicates an automated recalibration process. If the foot is removed and, at state 2606, the capacitance-indicating foot presence signal is below a specified threshold, a new criterion or baseline may be established. This new criterion or baseline can be used for further detection activities from state 2601, for example.

Various changes in the footwear itself, such as during footwear use, can cause a sensor signal to indicate the presence of a foot when the foot is in fact not present in the footwear. Moisture or fluid saturation of one or more components of the footwear, eg, due to perspiration, can affect the capacitance-indicating signal from the capacitive sensor and cause a false indication that the foot is within the footwear. Thus, in state 2605, the system can be configured to periodically wake up and perform an analysis and compensation routine to verify that the foot is present in the footwear.

In the example of FIG. 26 , the compensation routine may include timed data collection and analysis from the capacitive sensor. Following state 2605, the compensation routine in state 2607 can be triggered either periodically or intermittently. In some examples, the compensation routine is performed every few minutes or every few hours. The compensation routine collects sensor signal data and monitors changes in that signal. If the signal includes a variance that meets or exceeds the specified threshold variance or amount of change, then the system can determine that the foot will be in footwear, and state 2605 can be maintained. The compensation routine can be repeated after a certain period of time. However, if it determines that the sensor signal is relatively quiet or unchanged over the monitored interval, the system may determine that the foot is likely not in the footwear and return to state 2601. In this example, returning to state 2601 includes recalibration to determine if the baseline or reference capacitance-indicating signal needs an update.

In one example, for example, foot displacement information relative to a sensor within footwear may be determined using count information from a capacitive sensor within footwear. The gradient of the displacement information can represent the velocity characteristics of the foot within the footwear, and again, in some use cases, the velocity of the footwear itself. In one example, information about the speed characteristics of the foot can be used to trigger one or more features of the footwear. For example, the velocity profile can be used to identify footwear putting on or taking off events that can trigger an automated shoelace tightening or untying process.

27 is a diagram showing an example of a chart showing foot presence sensor data as a whole. The example of FIG. 27 includes a first curve 2701 (shown as a solid line) representing raw data sampled from a capacitive foot presence sensor. The example of FIG. 27 also includes a second curve 2702 (shown as a short dotted line) that is a filtered version of the first curve 2701 . In one example, the second curve 2702 is used for foot presence detection by comparing its size to a specified threshold size. Values of second curve 2702 that exceed the specified threshold size may indicate that the foot is present in footwear, and values of second curve 2702 that do not exceed the specified threshold size indicate that the foot is not within footwear. can indicate The threshold and/or baseline capacitance value from the sensor may be updated or changed as described herein.

The example of FIG. 27 includes a third curve 2703 (represented by a long dotted line). Third curve 2703 can represent the slope of first curve 2701, such as the slope of first curve 2701 over the specified preceding period. The length of the advance period may be adjusted or tuned based on desired performance characteristics of the sensor or system (eg, attack time or sensitivity or immunity to noise or signal changes or signal bounces).

In one example, the magnitude of the third curve 2703 can represent the relative speed of the footwear that includes the sensor, or, if the footwear is worn by the foot, the relative speed of the foot within the shoe. A large size of the third curve 2703 can correspond to a large velocity or displacement of the foot relative to the sensor in the vertical (z) and horizontal (x/y) directions, and a small size of the third curve 2703 corresponds to a small velocity. can respond

The example of FIG. 27 further includes a fourth curve 2704 (alternating short and long dotted lines). A fourth curve 2704 indicates whether the foot is in footwear or not. Thus, the fourth curve 2704 is a binary signal in the example of FIG. 27 and has two states, a high state and a low state.

In one example, a determination of whether a foot is in or out of footwear can be made (eg, by processor circuitry) using information from second and third curves 2702 and 2703 . For example, if the signal information from second curve 2702 is less than a specified threshold signal (eg, less than 30 counts) followed by a detected speed change, then a foot may be indicated as present. In one example, the detected change in speed may be a change in speed greater than a specified threshold amount of speed. In another example, the detected speed change may include a speed profile comparison, eg, to compare the speed change or waveform shape to a known speed change or shape corresponding to the presence of a foot.

In one example, footwear velocity or displacement information may be obtained from a separate sensor, such as an accelerometer or gyroscope, mounted in or on the footwear. This velocity or displacement information may optionally be used along with information about foot velocity for a sensor within the footwear. For example, foot speed information can be used to determine optimal footwear tension characteristics while the footwear is being used, such as during sports or activities. In one example, foot speed information may be used to determine the tensile properties, such as relative movement between the foot and the footwear (as detected by a capacitive sensor) during a hard stop or sprint (as detected by an accelerometer or gyroscope). It can be used to optimize for a specified tightness, such as tight enough to stop. Conversely, if no foot or footwear speed or acceleration is detected, the tension characteristic may be determined to be excessive or unnecessary, and the footwear tension may be relaxed. For example, if the foot swells during the course of an activity, the footwear may be relaxed (eg, a shoelace may be untied) until a specified small speed is detected.

In one example, footwear that includes an automated lacing feature can be removed from the foot in a variety of ways. For example, the footwear may include a button that the wearer can press to reduce the tension on the laces so that the footwear can be removed more easily. In some examples, the baseline or reference value of one or more sensors may be changed or updated during use of the shoe (eg, due to moisture retained in the wearer's sock or other environmental conditions). When the button is pressed, the baseline or reference value for the one or more sensors or footwear may be reset or zeroed to facilitate subsequent foot presence detection.

In another example, footwear may be removed. The automated shoelace tightening system described herein may be configured to detect when footwear is coming off, for example, by detecting a foot member using a sub-threshold count from a capacitive foot presence sensor. In one example, count information from a capacitive sensor may be used in part to detect foot presence, along with speed information indicative of a known shoe-off speed profile and corresponding speed change and/or speed profile or shape.

28A-30D show, in general, an example of a footbed assembly with a lace tightening engine assembly 2803 and various instructions for installing or maintaining the lace tightening engine assembly 2803 within a lace tightening engine cavity 2801 within the footbed. A drawing showing a technique or example. 28A, 29A, 29B, 29C, 30B, 30C, 30D generally illustrate an example of a user accessing the shoelace tightening engine assembly 2803 and/or the shoelace tightening engine cavity 2801. show from the point of view of The user's hands shown in the figures are not essential, are not required in any embodiment, and do not form part of the present invention.

28A and 28B are views showing an example of a footbed assembly with a tonneau cover as a whole. The footbed assembly may include a lace tightening engine cavity 2801 in which a lace tightening engine assembly 2803 may be installed. In the example of FIG. 28A , tonneau cover 2802 is shown in an elevated position to show lace tightening engine cavity 2801 in which the lace tightening engine assembly is disposed. 28B, a tonneau cover 2802 is installed and covers substantially the entire shoelace tightening engine cavity 2801.

In one example, shoelace tightening engine assembly 2803 can include electrodes for capacitive sensors (eg, see electrode assembly in FIGS. 21A-21D , among others described herein). In one example, a dielectric member (e.g., neoprene or other closed or open-cell rubber or foam, EVA or other material) may be disposed over the shoelace tightening engine assembly, and a tonneau cover 2802 may be provided over the dielectric member. there is. In one example, the tonneau cover 2802 can be contoured to fit the arch of the wearer's foot. In one example, the tonneau cover 2802 is shaped like an arch or umbrella to assist in wicking moisture away from the shoelace tightening engine assembly 2803. The tonneau cover 2802 can include a variety of hard or flexible materials, including carbon fiber, EVA or neoprene rubber, and the like, and can be configured to be relatively conductive to increase the body sensing sensitivity of the capacitive sensor underneath. Thus, tonneau cover 2802 can provide a protective covering for shoelace tightening engine assembly 2803 and, in some instances, can increase foot sensing capabilities.

29A-29D show, as a whole, an example of a footbed assembly with a first hook and loop cover for a shoelace tightening cavity 2801 . The cover is provided between the lace tightening engine assembly 2803 and the foot-receiving surface of the footwear. The cover retains the lace tightening engine assembly 2803 within the lace tightening engine cavity 2801, particularly when the footwear is empty, in or against a portion of the dielectric stack over the lace tightening engine assembly 2803. It provides various functions such as mechanically biasing one or more other adjacent materials into an uncompressed or less compressed state. In one example, the hook and loop cover provides a suspension mechanism that can be used to relieve stress on or depressurize a dielectric stack provided over shoelace tightening engine assembly 2803. That is, the cover can bias the dielectric stack toward an incompressible state.

In the example of FIG. 29A , the first hook and loop cover includes a hook perimeter 2901 that follows the periphery of the shoelace tightening engine cavity 2801 in the footbed. The outer edge of the hook perimeter 2901 can be secured to one or more edges of the shoelace tightening engine cavity 2801, and the inner edge of the hook perimeter 2901 can be flexible and can be manually lifted to prevent a shoe into the cavity. Can accommodate insertion of string tightening engine assembly 2803. Shoelace tightening engine assembly 2803 can be covered using a roof material cover 2902. Loop material cover 2902 may help retain lace tightening engine assembly 2803 within lace tightening engine cavity 2801 within the footbed. In some examples, loop material cover 2902 includes an outward side that is hydrophobic and configured to help wick moisture away from the lace tightening engine.

30A-30D are generally views of an example of a footbed assembly with a second hook and loop cover for a shoelace tightening engine assembly. In the example of FIG. 30A , hook and loop material covers 3001 and 3002 cover shoelace tightening engine cavity 2801 in the footbed. The side edges of the hook material cover 3001 can be coupled to the footbed at a first side of the shoelace tightening engine cavity 2801, can be flexible, and can be manually lifted to remove the shoe into the shoelace tightening engine cavity 2801. Can accommodate insertion of string tightening engine assembly 2803 (eg, see FIG. 30C ). A side edge of the loop material cover 3001 may be coupled to the footbed at an opposite second side of the lace tightening engine cavity 2801 such that the hook and loop material covers 3001 and 3002 at least partially overlap and engage each other. .

One or more members of the dielectric stack 3004 may be provided adjacent to or at the top of a portion of the shoelace tightening engine assembly 2803 . In the example of FIG. 30D , the dielectric stack 3004 includes a neoprene layer or a doped EVA layer provided adjacent to the electrode assembly inside the housing of the shoelace tightening engine assembly 2803 . Shoelace tightening engine assembly 2803 with dielectric stack 3004 may be covered using hook and loop material covers 3001 and 3002, as shown in FIG. 30A. The hook and loop material covers 3001 and 3002 may be configured to retain the laces tightening engine assembly 2803 within the laces tightening engine cavity 2801 within the footbed. In some examples, the upper one of the hook and loop material covers 3001 and 3002 includes an outer (feet-facing side) that is hydrophobic and configured to assist in wicking moisture away from the shoelace tightening engine assembly 2803.

In the example of FIG. 30D , dielectric stack 3004 overlies a portion of the housing of shoelace tightening engine assembly 2803 . A gap filler such as polyurethane, other foam or compressible member may be inserted to cover the remainder or other portion of the housing, thereby providing a relatively smooth and comfortable underfoot surface for the user. The gap filler may be substantially transparent to the electric field monitored by the capacitive foot presence sensor in the lace tightening engine assembly 2803. In other words, the gap filler material can be selected to minimize shock or effect on the foot presence-indicating signal from a capacitive foot presence sensor within or coupled to the lace tightening engine assembly 2803.

The hook and loop assembly shown in the example of FIGS. 29A-29D and 30A-30D can be configured to help absorb and distribute foot impact forces away from the lace tightening engine assembly 2803, where the foot is present in the footwear. or substantially permeable to the field utilized by the capacitive sensor in (or adjacent to) the shoelace tightening engine assembly 2803 that monitors or detects its absence. In one example, the various hook and loop assemblies or tonneau covers described herein reduce the effect of repeated compression of the dielectric stack 3004 with use of the footwear, thereby reducing foot presence sensing signal sensitivity during repeated or extended footwear use. , can be configured to provide an outward or upward mechanical bias away from the dielectric stack 3004 to maintain fidelity and dynamic range.

The following aspects provide a non-limiting overview of the footwear, capacitive sensor, capacitive sensor signal processing, and speed-related signal processing described herein.

Aspect 1 is directed to receiving a time-varying sensor signal from a sensor connected to an article of footwear and configured to sense information regarding a proximity of a foot to a sensor, and using a processor circuit to generate information about a sensor using the time-varying sensor signal. Subject matter (apparatus, system, device, method, means for performing an action, or when performed by the device, the device moves (such as a device readable medium containing instructions capable of causing the In one example, aspect 1 may include initiating data collection regarding the proximity of the article of footwear or foot to the sensor using the same or a different sensor coupled to the article of footwear based on the identified speed characteristic. there is. In one example, aspect 1 may include updating an automated function of the article of footwear based on the identified speed characteristic. Updating an automated function of the article of footwear may include initiating or inhibiting an automated shoe tightening function of the article of footwear to secure the article to the foot or release the article of footwear from the foot.

Aspect 2 may include or use the subject matter of aspect 1, to optionally include identifying velocity characteristics of the time-varying sensor signal includes using displacement information about a foot location for the sensor, or optionally can be combined.

Aspect 3 may include or use the subject matter of aspect 2, optionally comprising determining, using the processor circuitry, whether a foot is within the article of footwear based on the identified speed characteristic; can be combined.

Aspect 4 may include or use the subject matter of aspects 2 or 3 or any combination thereof, to optionally include, using the processor circuitry, determining a step count using the identified speed characteristics, or optionally can be combined with

Aspect 5 may include or use the subject matter of any one or any combination of aspects 2-4, to optionally include determining, with the processor circuitry, a foot impact force using the identified velocity characteristic; or optionally combined.

Aspect 6 uses the time-varying sensor signal to identify the speed characteristic using the processor circuit to: (1) identify a first portion of the time-varying sensor signal corresponding to a foot impact and a first portion corresponding to a foot lift; identifying a second portion of the time-varying sensor signal, and (2) determining a number of steps, a movement speed, or a movement distance using information regarding timing of the first and second portions of the time-varying sensor signal. Optionally, for inclusion, the subject matter of aspect 1 may be included or used, or optionally combined.

Aspect 7 uses the time-varying sensor signal to identify the speed characteristic using the processor circuit to: (1) identify a first portion of the time-varying sensor signal corresponding to a foot impact and a first portion corresponding to a foot lift; optionally comprising identifying a second portion of the time-varying sensor signal; and (2) determining a lifecycle state of an insole component of the article of footwear using at least the first portion of the time-varying sensor signal. For this purpose, the subject matter of aspect 1 may be included or used, or optionally combined.

Aspect 8 optionally includes determining the lifecycle state of the insole component comprising identifying a peak-to-peak excursion characteristic of the time-varying sensor signal, wherein aspect The subject matter of 7 may be included or used, or may optionally be combined.

Aspect 9 is an aspect 7 or 8 or any combination thereof, to optionally include reporting a footwear condition indication to the user if the determined lifecycle state indicates that the insole provides insufficient cushioning to the user. may include or use the subject matter of, or may optionally be combined.

Aspect 10 is directed to Aspect 1 , to optionally include updating an automated function of the article of footwear comprising initiating or inhibiting operation of an automatic lace tightening engine configured to tighten or loosen the article of footwear relative to the foot. -9, or any combination of subject matter, or may optionally be combined.

Aspect 11 is the subject matter of any one or any combination of aspects 1 to 10, wherein receiving the time-varying sensor signal from the sensor comprises receiving a time-varying capacitance-indicating signal from a capacitive sensor. can be included or used, or optionally combined.

Aspect 12 is the subject matter of aspect 11, to optionally include receiving the time-varying capacitance-indicating signal from the capacitive sensor comprising providing a drive signal to a follower shield configured for use with the capacitive sensor. Can include or use, or can be optionally combined.

Aspect 13 relates to monitoring, using the processor circuit, the time-varying capacitance-indicative signal from the capacitive sensor over a specified period of time, and detecting that the signal is less than a specified threshold signal change over the specified period of time. Where indicated, may include or use the subject matter of aspects 11 or 12 or any combination thereof, or may optionally be combined, to optionally include updating the reference capacitance characteristic of the capacitive sensor.

Aspect 14 may include or use the subject matter of aspect 13, or optionally combined, to optionally include updating the reference capacitance characteristic comprising using a moving average of the output from the capacitive sensor. there is.

Aspect 15 may include or use the subject matter of aspect 13 to optionally include using the time-varying sensor signal and the updated reference capacitance characteristic to identify a later velocity characteristic of the foot relative to the sensor, or can optionally be combined.

Aspect 16 is the subject of any one of aspects 1 to 15, or any combination thereof, to optionally include adjusting the identified speed characteristic based on a detected lifecycle state change of one or more components of the article of footwear. Can include or use, or can be optionally combined.

Aspect 17 relates to receiving the time-varying sensor signals while a foot is being inserted or removed from the article of footwear, and identifying velocity characteristics of the time-varying sensor signals to detect whether the toe, arch, and heel portions of the foot are within the article of footwear. May include or use the subject matter of any one of aspects 1-16 or any combination thereof, optionally including identifying a changing proximity characteristic of the foot as it approaches a sensor, or optionally a combination thereof. It can be.

Aspect 18 includes a foot proximity sensor system for footwear comprising a capacitive proximity sensor coupled to an article of footwear and configured to provide a time-varying sensor signal indicative of proximity of a foot to the sensor, and a processor circuit coupled to the proximity sensor. Subject matter such as can be used or used (such as an apparatus, system, device, method, means for performing an operation, or a device readable medium containing instructions that, when performed by a device, may cause a device to perform an operation). ) may be included or used. The method of aspect 18, wherein the processor circuitry can be configured to identify a speed characteristic using the time-varying sensor signal, and based on the identified speed characteristic: (1) using the proximity sensor or on the article of footwear; initiate collection of data about the location of the foot relative to the sensor or about the article of footwear using a different connected sensor, and (2) update an automated function of the article of footwear. . In one example, updating the automated function of the article of footwear includes initiating or inhibiting an automated shoelace tightening function of the article of footwear.

Aspect 19 may include or use the subject matter of aspect 18, to optionally include wherein the capacitive proximity sensor includes a follower shield and a planar electrode provided at or near an insole of the article of footwear, or may optionally include: can be combined with

Aspect 20 may include or use the subject matter of aspect 19, optionally including wherein the processor circuitry is configured to determine one or more of step count, foot impact force, and speed of movement using the identified speed characteristics; or optionally combined.

Aspect 21 is any of aspects 18-20, to optionally include the processor circuit being configured to update a reference characteristic of the capacitive proximity sensor to accommodate a change in fluid saturation of one or more components of the article of footwear. It may include or use one or any combination of the subject matter, or may optionally be combined.

Aspect 22 includes the subject matter of any one or any combination of aspects 18-21, for selectively including or using a dielectric stack provided between the capacitive proximity sensor and a foot-receiving surface of the article of footwear, or can be used, or optionally combined.

Aspect 23 optionally includes or uses a cover, such as a hook and loop cover, provided between the capacitive proximity sensor and a foot-receiving surface of the article of footwear and configured to bias the dielectric stack toward an uncompressed state. For this purpose, the subject matter of aspect 22 may be included or used, or optionally combined.

Aspect 24 is an automated footwear system for use within an article of footwear, the system comprising: a lace tightening engine and a lace tightening engine housing configured to be disposed within the article of footwear, a processor circuit provided within the housing, and at least one electrode. and a capacitive sensor including a corresponding driven shield provided at least partially inside the housing, wherein the capacitive sensor senses a change in the degree of proximity of the body to the at least one electrode, Subject matter (apparatus, system, device, method, means for performing an operation, or device performed by a device) comprising or capable of using the system, configured to provide a time-varying sensor signal indicative of proximity to an electrode. (such as a device-readable medium containing instructions that, when performed, may cause a device to perform operations). In one example, according to aspect 24, the processor circuitry is configured to identify a speed characteristic using the time-varying sensor signal, and based on the identified speed characteristic: (1) to the same capacitive sensor or to the article of footwear. initiating data collection on the article of footwear or on the proximity of the body to the electrodes using a different sensor connected thereto, such as (2) initiating or inhibiting an automated shoelace tightening function of the article of footwear; and update an automated function of the shoelace tightening engine.

Aspect 25 may include or use the subject matter of aspect 24, optionally including wherein the processor circuitry is configured to determine one or more of step count, foot impact force, and speed of movement using the identified speed characteristic; , or optionally combined.

Aspect 26 optionally comprises wherein the processor circuitry is configured to update a reference characteristic of the capacitive sensor based on a detected change in fluid saturation of one or more components disposed within or coupled to the article of footwear, May include or use the subject matter of aspect 24 or 25 or any combination thereof, or may optionally be combined.

Aspect 27 optionally includes or uses any one of aspects 24 to 26, or for the use of a dielectric stack provided on a foot-opposite side of the capacitive sensor and configured to increase sensitivity of the capacitive sensor to the body. It may include or use the subject matter in any combination thereof, or may optionally be combined. In one example, the dielectric stack includes neoprene or doped EVA material.

An aspect 28 may include or use the subject matter of any one or any combination of aspects 24-27, or may optionally include or use the subject matter of any one of aspects 24-27, to optionally include or use a suspension member configured to bias the dielectric stack away from a compressed state. can be combined with

Aspect 29 optionally includes or uses wherein the processor circuit is configured to update an automated function of the lace tightening engine, including activating an automatic lace tightening function of the article of footwear based on the identified speed characteristic. To do so, the subject matter of any one or any combination of aspects 24 to 28 may be included or used, or may optionally be combined.

various remarks

The above description includes reference to the accompanying drawings, which form a part of the detailed description. The drawings illustrate, by way of illustration, specific embodiments in which the present invention may be practiced. These embodiments are also referred to herein as "Examples." Such examples may include elements in addition to those shown or described. However, the inventors also contemplate examples in which only the elements shown or described are provided. Moreover, the present inventors claim that, with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein, any of these elements (or one or more aspects thereof) shown or described Examples using any combination or permutation are also contemplated.

In this application, terms in the singular are used to include one or more than one, independent of any other instance or usage of “at least one” or “one or more,” as is customary in the patent literature. As used herein, unless otherwise indicated, the term "or" is non-exclusive, such as "A or B" includes "A but not B", "B but not A", and "A and B". refers to something In this application, the terms "including" and "wherein" are used as the plaintext equivalents of the respective terms "comprising" and "wherein". Also, in the claims that follow, the terms "comprising" and "comprising" are open-ended, i.e. a system, device, article, composition, composition, or process that includes elements in addition to those listed following these terms in the claim. is still considered to be within the scope of that claim. Moreover, in the following claims, the terms “first,” “second,” and “third” and the like are used only as labels, and are not intended to place a numerical claim on their subject matter.

Geometric terms such as "parallel", "perpendicular", "round" or "square" are not intended to require absolute mathematical precision, unless the context dictates otherwise. Instead, these geometrical terms allow for deviations due to manufacturing or equivalent function. For example, if an element is described as "round" or "overall round," elements that are not precisely circular (eg, slightly oval or polyhedral polygons) are still encompassed by this description.

The method examples described herein may be at least partially machine or computer implemented. Some examples may include computer-readable media or machine-readable media encoded with instructions operable to configure an electronic device to perform a method as described in the examples above. Implementations of such methods may include code such as microcode, assembly language code, higher-level language code, and the like. Such code may include computer readable instructions for performing various methods. The code may form part of a computer program product. Also, in one example, the code may be tangibly stored on one or more volatile, non-transitory, or non-volatile tangible computer readable media, such as during execution or at other times. there is. Examples of these types of computer-readable media are hard disks, removable magnetic disks, removable optical disks (eg, compact disks and digital video disks), magnetic cassettes, memory cards or sticks, random access memories (RAMs), dedicated memories (ROMs) and the like, but are not limited thereto.

The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used by those skilled in the art upon reviewing the above description. The abstract is intended to enable the reader to quickly ascertain the nature of the technical disclosure, 37 C.F.R. It is provided in accordance with §1.72(b). It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features may be grouped together to streamline the present disclosure. This is not to be construed as an intention that unclaimed disclosed features are essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or examples, with each claim standing on its own as a separate example, and it is contemplated that such examples may be combined with one another in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims (20)

identifying a change in fluid saturation of one or more components coupled to or disposed within the article of footwear;
calibrating a foot presence sensor by updating a baseline or reference condition for the foot presence sensor based on a change in fluid saturation, wherein the foot presence sensor is coupled to the article of footwear and relates to a proximity of the foot to the sensor. calibrating a foot presence sensor that senses information;
receiving a time-varying sensor signal from the calibrated foot presence sensor; and
Initiating data collection relating to the article of footwear or updating an automated function of the footwear based on the characteristics of the time-varying sensor signal.
A method for processing a foot presence signal comprising a. According to claim 1,
identifying a speed characteristic of the foot relative to the foot presence sensor using the time-varying sensor signal; and
determining whether the foot is present within the article of footwear based on the speed characteristic;
A method for processing a foot presence signal further comprising. The method of claim 1 , wherein receiving a time-varying sensor signal from the calibrated foot-presence sensor comprises receiving a time-varying capacitance-indicating signal from a capacitive sensor. 4. The method of claim 3, wherein receiving a time-varying capacitance-indicating signal from the capacitive sensor comprises providing a drive signal to a follower shield configured for use with the capacitive sensor. method. 4. The method of claim 3, wherein calibrating the foot presence sensor comprises intermittently monitoring the time-varying capacitance-indicating signal from the capacitive sensor over a specified period of time, wherein the signal exceeds a specified threshold signal change over the specified period of time. and updating a reference capacitance characteristic of the capacitive sensor if it indicates that the foot presence signal is small. The method of claim 1 , wherein the baseline or reference condition for the foot presence sensor comprises a moving average of values of the time-varying sensor signal. The method of claim 1 , wherein identifying a change in fluid saturation of one or more components connected to or disposed within the article of footwear is based on a change in the time-varying sensor signal when the foot is placed within the article of footwear. A method of processing a foot presence signal. The method of claim 1 , wherein identifying a change in fluid saturation of one or more components coupled to or disposed within the article of footwear corresponds to a change in the time-varying sensor signal when the article of footwear is occupied by the foot. A method of processing a foot presence signal, which is based on. 2. The method of claim 1, wherein updating the automated functionality of the footwear comprises initiating or inhibiting operation of an automatic lace-tightening engine, the lace-tightening engine configured to tighten or loosen the article of footwear about the foot. A method of processing a foot presence signal. A method performed by an automated footwear system comprising:
receiving a time-varying sensor signal from a sensor coupled to the article of footwear and configured to sense information regarding proximity of the foot to the sensor; and
Using the processor circuit,
identify a first reference value of the sensor signal; and
providing an indication of the presence or absence of a foot using a first portion of the time-varying sensor signal and the first reference value;
identify a change in fluid saturation of one or more components connected to or disposed within the article of footwear;
identifying a second reference value of the sensor signal according to a change in fluid saturation;
use the subsequent second portion of the time-varying sensor signal and the second reference value to provide an indication of the presence or absence of a subsequent foot;
using processor circuitry
A method performed by an automated footwear system comprising: 11. The method of claim 10 wherein identifying a change in fluid saturation of one or more components coupled to or disposed within the article of footwear comprises: the time-varying sensor exceeding a certain threshold amount of change relative to a previous value of the time-varying sensor signal. A method performed by an automated footwear system comprising periodically or intermittently determining the current value of the signal. 12. The method of claim 11, wherein the present and previous values of the time-varying sensor signal correspond to different capacitance-representations of the time-varying sensor signal. 11. The automated footwear system of claim 10, wherein providing an indication of the presence or absence of the foot includes using displacement information from the first portion of the time-varying sensor signal relating to a change in location of the foot relative to the sensor. method performed by. 11. The method of claim 10, wherein identifying the second reference value comprises calculating a moving average of the value of the time-varying sensor signal. 11. The method of claim 10, further comprising controlling operation of an automatic lace-tightening engine based on the subsequent foot presence or absence indication. A foot proximity sensor system for footwear, the system comprising:
a proximity sensor coupled to the article of footwear and configured to provide a time-varying sensor signal indicative of proximity of the foot to the sensor; and
a processor circuit coupled to the proximity sensor;
The processor circuitry:
update a reference value of the time-varying sensor signal to accommodate a change in fluid saturation of one or more components coupled to or disposed within the article of footwear;
Receiving a time-varying sensor signal from the proximity sensor;
based on a relationship between the reference value and a characteristic of the time-varying sensor signal, updating an automated function of the footwear;
Foot proximity sensor system for footwear. 17. The method of claim 16, wherein the processor circuit is coupled to an automatic lace-tightening engine of the article of footwear, the processor circuit based on the relationship between the reference value and the magnitude of the time-varying sensor signal for operation of the automatic lace-tightening engine. A foot proximity sensor system for footwear, wherein the foot proximity sensor system is configured to control. 17. The method of claim 16, wherein the processor circuit is configured to update a reference value of the time-varying sensor signal based on a calibration routine, the calibration routine intermittently monitoring the time-varying sensor signal from the proximity sensor over a specified period of time. and changing the reference value if the signal indicates less than a specified threshold signal change over the specified time period. 17. The foot proximity sensor system of claim 16, wherein the processor circuitry is configured to update a reference value of the time-varying sensor signal based on a moving average of values of the time-varying sensor signal. 17. The method of claim 16, wherein the processor circuit determines a level of fluid saturation of one or more components connected to or disposed within the article of footwear based on changes in the time-varying sensor signal when the foot is placed within the article of footwear. A foot proximity sensor system for footwear, the foot proximity sensor system being configured to identify changes.

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